Stair climbing robot, cleaning system, and stair climbing system

Abstract

The application discloses a stair climbing robot, a cleaning system and a stair climbing system. The stair climbing robot comprises a machine body, a hatch, a first driving module and a walking assembly. The machine body is provided with a containing space for containing a cleaning robot and an opening communicating with the containing space. The opening is used for the cleaning robot to enter and exit the stair climbing robot. The hatch is movably connected to the machine body and has a closed position for closing the opening and an open position for opening the opening. The first driving module is in driving connection with the hatch. The first driving module is configured to drive the hatch to move from the open position to the closed position after the cleaning robot enters the containing space and drive the hatch to move from the closed position to the open position before the cleaning robot leaves the containing space. The walking assembly is connected to the machine body and is used to drive the machine body to walk in a target area. In the example, the cleaning robot can work in different areas with height differences or obstacles.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a stair-climbing robot, a cleaning system, and a stair-climbing system. Background Technology

[0002] Cleaning robots can be used to clean target areas on the ground. However, when the target area to be cleaned contains high obstacles, the cleaning robot cannot overcome them due to its limited obstacle-crossing ability. When the target area has a height difference, if the cleaning robot needs to move to an area higher than its current ground level, it will be blocked by obstacles such as steps; if it needs to move to an area lower than its current ground level, it is prone to falling off cliffs, making it impossible for the cleaning robot to move between areas with different heights. Utility Model Content

[0003] This application provides a stair-climbing robot, a cleaning system, and a stair-climbing system, which aims to improve the problem that cleaning robots cannot move between areas of different heights or cannot climb over high obstacles.

[0004] To achieve the aforementioned technical effects, one technical solution adopted in this application is: providing a stair-climbing robot for transferring a cleaning robot from a first area of ​​a target area to a second area of ​​the target area, wherein there is a height difference or obstacle between the first area and the second area, and the stair-climbing robot includes:

[0005] The body has a housing space for accommodating the cleaning robot and an opening connecting the housing space. The opening is for the cleaning robot to enter and exit the stair-climbing robot.

[0006] The hatch is movably connected to the fuselage and has a closed position for closing the opening and an open position for opening the opening.

[0007] A first drive module, connected to the door drive, is configured to: drive the door from the open position to the closed position when the cleaning robot enters the containment space; and drive the door from the closed position to the open position before the cleaning robot leaves the containment space; and

[0008] The walking component is connected to the body and is used to propel the body to move within the target area.

[0009] In this example, a stair-climbing robot equipped with a walking component moves a cleaning robot from a first area to a second area, enabling the cleaning robot to work in different areas with height differences or obstacles. This example utilizes a accommodating space to conveniently house the cleaning robot within a pre-defined area of ​​the machine. An openable hatch is provided at the opening of the accommodating space to ensure that the cleaning robot will not fall out during movement by the stair-climbing robot carrying it. Simultaneously, a first drive module works in conjunction with the hatch to automatically control its opening and closing, resulting in a high degree of automation, reducing manual operation by the user, and making it more convenient.

[0010] This application also proposes a cleaning system, comprising:

[0011] A cleaning robot includes a body, a displacement mechanism, and cleaning components. The displacement mechanism is connected to the body to move the body within a target area, and the cleaning components are connected to the body to perform cleaning work on the target area.

[0012] As in any of the above examples of vehicle robots, the displacement mechanism is able to drive the cleaning robot from the opening into the accommodating space when the hatch is in the open position; the walking component is configured to drive the stair-climbing robot and the cleaning robot located in the accommodating space from a first area of ​​the target area to a second area of ​​the target area.

[0013] This application also proposes a stair-climbing system, including a docking station and the aforementioned stair-climbing robot, wherein the docking station is used to dock with the stair-climbing robot. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of an example of the cleaning system of this application;

[0016] Figure 2 This is a structural schematic diagram of an example of the stair-climbing robot of this application;

[0017] Figure 3 This is a structural schematic diagram of an example of the cleaning robot of this application;

[0018] Figure 4 This is a top view of an example of the stair-climbing robot of this application;

[0019] Figure 5This is a schematic diagram of an example of the positioning mechanism in this application;

[0020] Figure 6 This is a schematic diagram of another example of the positioning mechanism in this application;

[0021] Figure 7 This is a structural schematic diagram of an example of the disassembled state of the positioning mechanism in this application;

[0022] Figure 8 This is a structural schematic diagram of an example of a positioning post in this application;

[0023] Figure 9 This is a structural schematic diagram of an example of the disassembled state of the positioning column in this application;

[0024] Figure 10 This is a structural schematic diagram of another example of the disassembled positioning column of this application;

[0025] Figure 11 This is a schematic diagram showing the location of an example card slot in this application;

[0026] Figure 12 This is a schematic diagram of the structure of an example of the protective shell of this application;

[0027] Figure 13 This is a schematic diagram of another example of the protective shell of this application;

[0028] Figure 14 This is a schematic diagram of another example of the positioning column in this application;

[0029] Figure 15 This is a structural schematic diagram of an example of the head view of the stair-climbing robot in this application;

[0030] Figure 16 This is a schematic diagram of another example of the cleaning system of this application;

[0031] Figure 17 This is a schematic diagram of an example of the first drive module of the stair-climbing robot of this application;

[0032] Figure 18 This is a schematic diagram of another example of the first drive module of the stair-climbing robot in this application;

[0033] Figure 19 This is a structural schematic diagram of yet another example of the first drive module of the stair-climbing robot in this application;

[0034] Figure 20 yes Figure 19 A magnified view of a portion of part 19A in the middle section;

[0035] Figure 21 This is a structural schematic diagram of an example of the hatch being in the open position.

[0036] Figure 22 This is a structural schematic diagram of an example of the hatch in this application;

[0037] Figure 23 This is a schematic diagram of another example of the hatch being in the closed position in this application;

[0038] Figure 24 This is a structural schematic diagram of another example of the hatch in the open position in this application;

[0039] Figure 25 This is a schematic diagram of an example of the closure detection component of this application;

[0040] Figure 26 This is a schematic diagram of another example of the closure detection component of this application;

[0041] Figure 27 This is a schematic diagram of the structure of an example of the open inspection component in this application;

[0042] Figure 28 This is a schematic diagram of an example of the in-situ detection component of this application;

[0043] Figure 29 This is a schematic diagram of another example of the in-situ detection component of this application;

[0044] Figure 30 This is a schematic diagram of a module of an example of the in-situ detection component of this application;

[0045] Figure 31 This is a schematic diagram of an example of the folded state of the swing arm in this application;

[0046] Figure 32 This is a schematic diagram of an example of the swing arm in its non-folded state according to this application;

[0047] Figure 33 This is a schematic diagram of a module of an example of the swing arm in this application;

[0048] Figure 34 This is a schematic diagram of the structure of an example of the walking component of this application;

[0049] Figure 35 This is a schematic diagram of an example of the stair-climbing system of this application;

[0050] Figure 36 This is a structural diagram of another example of the stair-climbing system in this application;

[0051] Figure 37 This is a schematic diagram of the structure of an example base station of this application;

[0052] Figure 38 This is a schematic diagram of an example of a stop in this application;

[0053] Figure 39 This is a schematic diagram of another example of a stop in this application;

[0054] Figure 40 This is a schematic diagram illustrating an example of the connection state between the supporting components and part of the body in this application.

[0055] Figure 41 This is a structural schematic diagram of an example of the support module of this application, wherein the first support member is used to support the docking body;

[0056] Figure 42 This is a structural schematic diagram of an example of the support module of this application, wherein the second support member is used to support the docking body;

[0057] Figure 43 This is a schematic diagram of another example of the connection state between the supporting components and part of the body in this application;

[0058] Figure 44 This is a schematic diagram of the structure of an example supporting component of this application;

[0059] Figure 45 This is a schematic diagram of another example of the supporting components of this application;

[0060] Figure 46 This is a structural diagram illustrating an example of the storage state of the supporting components in this application;

[0061] Figure 47 This is a structural diagram illustrating another example of the storage state of the supporting components in this application;

[0062] Figure 48 This is a schematic diagram of an example of a charging contact in this application;

[0063] Figure 49 This is a schematic diagram of another example of the charging contact in this application.

[0064] Among them: 1000, cleaning system;

[0065] 100. Stair-climbing robot; 101. Activate detection component; 102. Detection component;

[0066] 10. Body; 10a. Head; 10b. Tail; 11. Accommodation space; 12. Opening; 13. First wall; 131. Column limiting groove; 14. Guide wheel; 15. Support plate; 16. Side wall; 17. Upper shell; 19. Closure detection assembly; 191. Position sensor; 192. Elastic contact; 193. Floating column; 194. Fixing box; 195. Third reset component; 196. Positioning groove; 197. Contact part; 110. In-place detection assembly; 111. Trigger sensor; 112. Trigger; 113. First contact point; 114. Elastic component;

[0067] 20. Positioning mechanism; 211. Positioning post; 211a. First post; 211b. Second post; 212. First plate; 213. First positioning wall; 214. Second plate; 215. Second positioning wall; 216. Locking groove; 217. Convex surface; 218. Groove; 2191. First section; 2192. Second section; 22. Snap-fit ​​component; 23. Guide post; 24. First guide groove; 25. Second guide groove; 26. First elastic element; 27. Second elastic element;

[0068] 30. Protective shell; 31. First through hole; 311. First protrusion; 32. Second through hole; 321. Second protrusion; 33. Buffer pad; 34. Inner cavity; 35. Protrusion; 36. Through hole;

[0069] 40. Swing arm; 41. Power component;

[0070] 50. Cabin door; 501. Rotating shaft; 51. Viewing window; 52. Positioning protrusion; 53. First drive module; 531. Drive mechanism; 532. Lead screw; 533. Lead screw nut; 54. First transmission module; 541. Rotating rod; 55. Second reset component;

[0071] 60. Walking assembly; 61. Track; 62. Second drive module;

[0072] 70. Connecting rod;

[0073] 90. Connecting assembly; 91. First hatch connector; 92. Second hatch connector; 93. First reset component;

[0074] 200. Cleaning robot; 210. Body; 220. Displacement mechanism; 230. Cleaning component; 240. Second contact point; 250. Positioning recess; 251. Water inlet; 252. Water outlet; 253. Interface; 254. Front view module; 255. Collision bar;

[0075] 300, base station;

[0076] 2000, Stair Climbing System;

[0077] 2100, Stop;

[0078] 2110. Dock body; 2111. Charging contacts; 21111. Contact components; 21112. Contact elastic elements; 2112. Track area; 21121. Protruding structure; 2113. Return guide module; 2114. Receiving groove; 2115. Rear section; 2116. Front section; 2117. Second pivot; 2118. Dock surface; 2119. Second connecting piece;

[0079] 2120, Support module; 2121, First support member; 21211, First end; 21212, Second end; 21213, First rotating shaft; 21214, Slider; 21215, First positioning part; 21216, First positioning groove; 21217, Slide groove; 2122, First driving member; 2123, Second support member; 21231, Third end; 21232, Fourth end; 21233, Second positioning part; 21234, Second positioning groove; 2125, Second driving member; 21236, Fixing member; 21237, First connecting member;

[0080] 14a. First direction. Detailed Implementation

[0081] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0082] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified. It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" in this application description should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this document based on the specific circumstances.

[0083] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0084] The stair-climbing robot can move autonomously, either independently or with specific equipment. It can be applied in both residential and non-residential scenarios, including those involving multiple floors, staggered floors, and high obstacles. This allows it to traverse between areas with varying heights, as well as between areas of equal height. Scenarios involving multiple floors or staggered floors may include multiple interconnected steps or ramps, while scenarios with high obstacles may include a single step or a high threshold.

[0085] Please see Figures 1 to 5 This application proposes a stair-climbing robot 100, which is used to drive a cleaning robot 200 to walk in a target area. The cleaning robot 200 is provided with a positioning recess 250. The stair-climbing robot 100 includes a body 10, a walking component 60, and a positioning mechanism 20. The body 10 is provided with a housing space 11 for accommodating the cleaning robot 200 and an opening 12 communicating with the housing space 11. The opening 12 is used for the cleaning robot 200 to enter and exit the housing space 11. The walking component 60 is connected to the body 10 and is used to drive the body 10 to walk in the target area. The positioning mechanism 20 is connected to the body 10. At least a portion of the positioning mechanism 20 is used to extend into the housing space 11. The positioning mechanism 20 is configured to insert into the corresponding positioning recess 250 when the cleaning robot 200 enters the housing space 11.

[0086] The cleaning robot 200 has a positioning recess 250, which can be a groove formed on the cleaning robot 200. In some examples, the positioning recess 250 may also include at least one of the following: a water inlet 251, a water outlet 252, and a docking interface 253 at the tail of the cleaning robot 200. The water inlet 251 can be used to connect to the clean water tank of the cleaning robot 200 to facilitate the filling of water into the clean water tank. When water filling is not required, the water inlet 251 connected to the clean water tank serves as the positioning recess 250. The water outlet 252 can be connected to the wastewater tank of the cleaning robot 200 for discharging wastewater from the wastewater tank. When wastewater discharge is not required, the water outlet 252 can serve as the positioning recess. The docking interface 253 can be used to dock with a base station or power source for charging the cleaning robot 200. When charging is not required, the docking interface 253 can serve as the positioning recess 250. In some examples, the positioning recess 250 can be a recessed area formed at the connection point of a portion with a height difference on the cleaning robot 200. In some examples, the positioning recess 250 can be provided on the bottom or top surface of the cleaning robot 200. In some examples, multiple positioning recesses 250 can be provided on the cleaning robot 200, and the multiple positioning recesses 250 can be located on the same side of the cleaning robot 200, or the multiple positioning recesses 250 can be distributed at different positions on the cleaning robot 200.

[0087] The stair-climbing robot 100 can autonomously move from a first area to a second area. A height difference or obstacle exists between the first and second areas. A height difference means the first and second areas are not on the same horizontal plane; for example, they may be on different floors. The first and second areas are connected by multiple steps, a ramp, or a combination of steps and ramps. An obstacle exists between the first and second areas if it is located between them and its height is higher than at least one of the first and second areas. The stair-climbing robot 100 can be used to carry a cleaning robot 200 or similar equipment between the first and second areas, allowing the cleaning robot 200 to clean in different areas with height differences or obstacles. In some examples, the stair-climbing robot 100 can also be used to store the cleaning robot 200 when it is in standby or powered off. In this example, the stair-climbing robot 100 can serve as a carrier for the cleaning robot 200, enabling it to move between the first and second areas. In this example, the cleaning robot 200 can be used to clean floors, carpets, or other areas.

[0088] In some examples, the stair-climbing robot 100 can be electrically connected to the cleaning robot 200 via a wired or wireless connection. The cleaning robot 200 can send control signals to the stair-climbing robot 100 to control the working status of the stair-climbing robot 100.

[0089] In some examples, the stair-climbing robot 100 can also carry a cleaning module itself. During the movement of the stair-climbing robot 100, or when the stair-climbing robot 100 does not need to carry the cleaning robot 200, the target area can be cleaned by the stair-climbing robot 100.

[0090] The stair-climbing robot 100 has a body 10, which can be used to mount sensors or other components. The body 10 can also serve as a container to house a cleaning robot 200. In some examples, the body 10 can also be used to mount cameras or other components. The body 10 has a receiving space 11 and an opening 12 communicating with the receiving space 11. The receiving space 11 is used to accommodate the cleaning robot 200, and the opening 12 is used for the cleaning robot 200 to enter and exit the receiving space 11. The body 10 is at least partially hollow to form the receiving space 11 for placing the cleaning robot 200. The opening 12 is provided on the body 10, and the shape and size of the opening 12 can correspond to the shape and size of the cleaning robot 200 so that the cleaning robot 200 can enter the receiving space 11 through the opening 12. In some examples, the opening 12 can be an open area formed by a groove in the side wall 16 of the body 10. In some examples, the accommodating space 11 in this application can be a space capable of forming a fully enclosed state; in some examples, the accommodating space 11 in this application can be a non-enclosed space with partial windows or open areas. In some examples, the stair-climbing robot 100 may also include a detection component 102, which can be installed on the head 10a of the stair-climbing robot to detect environmental data, so that the stair-climbing robot 100 can have autonomous mapping, obstacle recognition, and path planning capabilities. In some examples, the detection component 102 may include at least one of a vision sensor, a laser sensor, and a TOF (Time of Flight) sensor.

[0091] The walking component 60 can drive the stair-climbing robot 100 to move between the first area and the second area. The walking component 60 can be a roller, a track 61, or other structure that enables the stair-climbing robot 100 to move.

[0092] Please see Figures 5 to 11The positioning mechanism 20 is connected to the body 10. In this example, the positioning mechanism 20 can be fixedly connected to the body 10, or it can be detachably connected to the body 10. The positioning mechanism 20 extends at least partially into the accommodating space 11. When the cleaning robot 200 enters the accommodating space 11, the positioning mechanism 20 can cooperate with the cleaning robot 200, inserting the positioning mechanism 20 into the positioning recess 250 of the cleaning robot 200. The cooperation between the positioning mechanism 20 and the positioning recess 250 restricts the movement of the cleaning robot 200 within the accommodating space 11, thereby reducing the problem of instability of the center of gravity of the stair-climbing robot 100 due to swaying within the accommodating space 11, and thus reducing the risk of tipping over due to instability during movement. Since the movement of the cleaning robot 200 within the accommodating space 11 can be restricted by the positioning mechanism 20, friction and collision between the cleaning robot 200 and the inner wall of the accommodating space 11 can be reduced, thus reducing surface damage to the cleaning robot 200.

[0093] In some examples, after the positioning mechanism 20 is inserted into the positioning recess 250, the positioning mechanism 20 can also be attracted to the cleaning robot 200 or the inner wall surface of the positioning recess 250, for example, by magnetic attraction, so that the cleaning robot 200 can be restrained by the positioning mechanism 20, further reducing the shaking of the cleaning robot 200. In some examples, there are multiple positioning mechanisms 20 and multiple positioning recesses 250, with multiple positioning mechanisms 20 arranged at intervals on the body 10, and each positioning mechanism 20 having at least one positioning recess 250 corresponding to it, so that multiple positioning mechanisms 20 can position the cleaning robot 200 from multiple directions.

[0094] In some examples, the positioning mechanism 20 includes a positioning post 211 movably connected to the body 10, which is used to insert into a corresponding positioning recess 250.

[0095] The positioning post 211 is movably connected to the body 10, meaning that while the positioning post 211 is limited by the body 10, it can move relative to the body 10. The positioning post 211 is used to insert into the corresponding positioning recess 250 so that the positioning post 211 can cooperate with the positioning recess 250 to confine the cleaning robot 200 to a preset position within the accommodating space 11.

[0096] In some examples, the positioning mechanism 20 further includes a first elastic element 26 connected between the body 10 and the positioning post 211. The first elastic element 26 is used to reset the positioning post 211 when it disengages from the positioning recess 250. The first elastic element 26 generates an elastic resetting force on the positioning post 211. When the positioning post 211 is subjected to external force, it compresses the first elastic element 26, causing it to contract. When the force acting on the positioning post 211 decreases or disappears, the stored force of the first elastic element 26 is released, causing the positioning post 211 to tend to return to its original position. When the positioning post 211 returns to its original position, it at least partially protrudes into the accommodating space 11.

[0097] In this example, when the positioning recess 250 of the cleaning robot 200 is aligned with the positioning post 211, the positioning post 211 can be at least partially inserted into the positioning recess 250. Whether the first elastic member 26 contracts is affected by the relationship between the length of the positioning post 211 extending into the accommodating space 11 and the depth of the positioning recess 250. If the depth of the positioning recess 250 is greater than or equal to the length of the positioning post 211 extending into the accommodating space 11, the positioning post 211 does not exert elastic pressure on the first elastic member 26, or the pressure exerted by the positioning post 211 on the first elastic member 26 is small. If the depth of the positioning recess 250 is less than the length of the positioning post 211 extending into the accommodating space 11, the cleaning robot 200 will squeeze the positioning post 211 and thus squeeze the first elastic member 26. Therefore, by setting an elastically extendable positioning post 211, it can adapt to positioning recesses 250 of different depths, improving the adaptability of the stair-climbing robot.

[0098] In some embodiments, if the positioning recess on the cleaning robot 200 does not correspond to the position of the positioning post, the cleaning robot 200 can still enter the accommodating space by providing an elastically extendable positioning post 211. When the cleaning robot 200 is located in the accommodating space 11, the outer surface of the cleaning robot 200 presses against the positioning post 211. At this time, the positioning post 211 presses against the first elastic element 26, causing the positioning post 211 to deform under pressure. When the cleaning robot 200 leaves the accommodating space 11, the force exerted by the cleaning robot 200 on the positioning post 211 decreases or even disappears. At this time, the first elastic element 26 can restore the positioning post 211 to its original position. In this example, the first elastic element 26 can be a spring, a metal sheet, or other elastic structure that can undergo elastic deformation when compressed and return to its original shape when the compressive force disappears.

[0099] In other embodiments, the positioning post 211 itself may be elastic, for example, made of an elastic material such as silicone, in which case the first elastic element 26 can be omitted. Of course, in some embodiments, the positioning post 211 may also be fixedly connected to the machine body.

[0100] In some examples, the positioning mechanism 20 also includes a snap-fit ​​member 22 movably connected to the body 10. The positioning post 211 has a snap-fit ​​groove 216. The snap-fit ​​member 22 is used to snap into the snap-fit ​​groove 216 to fix the positioning post 211 relative to the body 10. The snap-fit ​​member 22 is also used to disengage from the snap-fit ​​groove 216 to allow the positioning post 211 to move relative to the body 10. The snap-fit ​​member 22 is configured to snap into the snap-fit ​​groove 216 when the positioning post 211 is inserted into the positioning recess 250.

[0101] The snap-fit ​​element 22 is used to limit the positioning post 211, so that the positioning post 211 can be held in a preset position. In this example, the snap-fit ​​element 22 is movably connected to the body 10. The positioning post 211 is provided with a locking groove 216. When the snap-fit ​​element 22 is aligned with the locking groove 216, the snap-fit ​​element 22 can be at least partially inserted into the locking groove 216, so that the snap-fit ​​element 22 positions the positioning post 211. At this time, the positioning post 211 is fixed relative to the body 10. When the snap-fit ​​element 22 is disengaged from the locking groove 216, the limitation exerted by the snap-fit ​​element 22 on the positioning post 211 disappears, and the positioning post 211 can move relative to the body 10. In this example, the snap-fit ​​element 22 can be a snap-fit ​​pin, elastic buckle, or other structure that can be snapped into the locking groove 216. In this example, the latching element 22 can engage with the positioning slot 216 of the positioning post 211 when it is inserted into the positioning recess 250, thereby preventing the positioning post 211 from moving relative to the body 10 and confining it to its current position. In this example, the latching element 22 can move relative to the body 10 by sliding, rolling, or other means. In other embodiments, the latching element 22 may be omitted.

[0102] In some examples, the positioning post 211 has a positioning state and an avoidance state. In the positioning state, the positioning post 211 is inserted into the positioning recess 250, and the length of the positioning post 211 extending into the accommodating space 11 is greater than the length of the positioning post 211 extending into the accommodating space 11 in the avoidance state. The positioning mechanism 20 includes a plurality of positioning posts 211, and at least two of the plurality of positioning posts 211 are configured such that when one positioning post 211 is inserted into the positioning recess 250, the remaining positioning posts 211 are in an avoidance state due to being squeezed by the cleaning robot 200.

[0103] The positioning post 211 can move relative to the body 10, allowing it to switch between a positioning state and an avoidance state. In this example, when the cleaning robot 200 enters the accommodating space 11, the positioning recess 250 of the cleaning robot 200 allows the corresponding positioning post 211 to be inserted. The outer surface of the cleaning robot 200 will press against the positioning post 211 without a corresponding positioning recess 250, causing the positioning post 211 to retract inward towards the body 10, thus forming an avoidance state. This design allows the positioning mechanism 20 to adapt to different models of cleaning robots, ensuring that the positioning recess on the cleaning robot engages with the corresponding positioning post 211.

[0104] In this example, multiple positioning posts 211 can be provided, and these posts 211 can be spaced apart. When the cleaning robot 200 enters the accommodating space 11, if one positioning post 211 is in a positioning state, the other positioning posts 211 can be in a avoidance state under the pressure of the cleaning robot 200. In this example, when the cleaning robot 200 is provided with multiple positioning recesses 250, multiple positioning posts 211 can be in a positioning state simultaneously. In some examples, when multiple positioning posts 211 are in a positioning state simultaneously, at least one of the positioning posts 211 has a latching member 22 to limit its movement, so that it can remain in the positioning state.

[0105] In some examples, the multiple positioning posts 211 include a first post 211a and a second post 211b arranged adjacent to each other. In the positioning state, the locking groove 216 on the first post 211a and the locking groove 216 on the second post 211b are arranged opposite to each other. The locking member 22 is movably disposed between the locking groove 216 on the first post 211a and the locking groove 216 on the second post 211b. When one of the first post 211a and the second post 211b moves from the positioning state to the avoidance state, it pushes the locking member 22 into the locking groove 216 of the other of the first post 211a and the second post 211b.

[0106] In this example, the positioning column 211 includes two adjacent first columns 211a and second columns 211b, wherein the first columns 211a and second columns 211b are staggered from each other so that the first columns 211a and second columns 211b can correspond to different parts of the cleaning robot 200, or be adapted to different models of the cleaning robot 200.

[0107] When one of the first column 211a and the second column 211b moves from the positioning state to the avoidance state, the latching member 22 can be pushed into the locking groove 216 of the other column 211a and the second column 211b, so that the latching member 22 can limit the first column 211a or the second column 211b in the positioning state. In this example, the latching member 22 can be a ball or a cylinder, so that the latching member 22 can roll between the first column 211a and the second column 211b. In this example, the first column 211a can be inserted into the positioning recess 250, while the second column 211b does not have a corresponding positioning recess. When the cleaning robot 200 enters the accommodating space 11, the first column 211a is inserted into the positioning recess 250, and the second column 211b is pushed towards the avoidance position by the cleaning robot 200. The locking member 22 engages with the locking groove 216 on the first column 211a, preventing the first column 211a from moving towards the avoidance position, thus keeping the first column 211a in the positioning state to continuously position the cleaning robot 200. The locking member 22 can fix the positioning column 211 in the positioning state relative to the body, making the positioning of the cleaning robot more stable.

[0108] In some examples, a first positioning wall 213 is provided on the first column 211a, and a second positioning wall 215 is provided on the second column 211b opposite to the first positioning wall 213. The first positioning wall 213 and the second positioning wall 215 are spaced apart, and each of the first positioning wall 213 and the second positioning wall 215 is provided with a locking groove 216. A locking member 22 is rotatably disposed between the first positioning wall 213 and the second positioning wall 215. The distance between the positioning walls 215 is less than the dimension of the snap-fit ​​member 22 along the direction from the first positioning wall 213 to the second positioning wall 215. When the first column 211a moves from the positioning state to the avoidance state, the snap-fit ​​member 22 snaps into the snap-fit ​​groove 216 between the first positioning wall 213 and the second column 211b. Alternatively, when the second column 211b moves from the positioning state to the avoidance state, the snap-fit ​​member 22 snaps into the snap-fit ​​groove 216 between the second positioning wall 215 and the first column 211a.

[0109] The first positioning wall 213 can be a plane on the first column 211a, and the second positioning wall 215 can be a plane on the second column 211b. The first positioning wall 213 and the second positioning wall 215 are arranged opposite to each other, and there is a gap between the first positioning wall 213 and the second positioning wall 215 so that the first positioning wall 213 and the second positioning wall 215 are spaced apart. In some examples, a first plate 212 is connected to the first column 211a, and the first positioning wall 213 is a surface on the first plate 212; in some examples, a second plate 214 is connected to the second column 211b, and the second positioning wall 215 is a surface on the second plate 214.

[0110] The first positioning wall 213 and the second positioning wall 215 are respectively provided with locking grooves 216. The locking member 22 can roll between the first positioning wall 213 and the second positioning wall 215. In the direction from the first positioning wall 213 to the second positioning wall 215, the size of the locking member 22 is larger than the distance between the first positioning wall 213 and the second positioning wall 215. When the locking grooves 216 on the first positioning wall 213 and the second positioning wall 215 are aligned with each other, the locking member 22 can be partially located in the locking groove 216 on the first positioning wall 213 and partially located in the locking groove 216 on the second positioning wall 215. When the locking grooves 216 on the first positioning wall 213 and the second positioning wall 215 are staggered, when the locking member 22 is located in the locking groove 216 on the first positioning wall 213, the surface of the locking member 22 protruding from the locking groove 216 of the first positioning wall 213 can partially abut against the second positioning wall 215.

[0111] When the first column 211a moves from the positioning state to the avoidance state, the locking member 22 engages between the locking grooves 216 on the first positioning wall 213 and the second positioning wall 215. When the second column 211b moves from the positioning state to the avoidance state, the locking member 22 engages between the locking grooves 216 on the second positioning wall 215 and the first positioning wall 213. In this example, the locking member 22 is a sphere. When the first column 211a is in the positioning state, the locking member 22 can cooperate with the second positioning wall 215 to limit the first column 211a, so that the first column 211a is limited to the current position. When the cleaning robot 200 moves out of the accommodating space 11, the pressure acting on the second column 211b disappears, and the second column 211b switches from the avoidance state to the positioning state. At this time, the second column 211b moves in the direction of protruding into the accommodating space 11 under the action of the first elastic member 26. When the locking grooves 216 on the first positioning wall 213 and the second positioning wall 215 are aligned, the locking member 22 is partially located in the locking groove 216 of the first positioning wall 213 and partially located in the locking groove 216 of the second positioning wall 215. At this time, both the first column 211a and the second column 211b are in the state of protruding into the accommodating space 11.

[0112] When both the first column 211a and the second column 211b are squeezed by the cleaning robot 200, causing both the first column 211a and the second column 211b to switch to the avoidance state, the snap-fit ​​component 22 can move synchronously to the avoidance state position along with the first column 211a and the second column 211b.

[0113] In this embodiment, at least two positioning posts 211 share a single snap-fit ​​connector 22, which simplifies the structure of the positioning mechanism and reduces costs. In other embodiments, a snap-fit ​​connector 22 can be provided for each positioning post 211.

[0114] It is worth mentioning that the first column 211a and the second column 211b in this application are only examples to illustrate how two adjacent positioning columns cooperate, and do not mean that a positioning mechanism only contains two positioning columns. A positioning mechanism can also include three or more positioning columns, which will not be elaborated here.

[0115] Please refer to the following: Figure 6 , Figure 7 as well as Figure 12 and Figure 13 In some examples, the stair-climbing robot 100 also includes a protective shell 30, which is detachably connected to the body 10. The positioning mechanism 20 is mounted on the protective shell 30. The protective shell 30 can serve as an intermediate connector between the positioning mechanism 20 and the body 10. The positioning mechanism 20 is mounted on the protective shell 30, which can be removed from the body 10. This allows the positioning mechanism 20 to be completely removed from the body 10 for maintenance when needed. Alternatively, different positioning mechanisms 20 can be installed on different protective shells 30 to adapt to different models of cleaning robots, thereby improving the versatility of the stair-climbing robot. For different models of cleaning robots, a suitable protective shell 30 can be matched and installed on the body 10 of the stair-climbing robot according to the positioning recess on the cleaning robot.

[0116] In some examples, the protective shell 30 is provided with an inner cavity 34 and a through hole 36 connecting the inner cavity 34 and the accommodating space 11; the positioning mechanism 20 is installed in the inner cavity 34, and at least a portion of the positioning mechanism 20 extends into the accommodating space 11 through the through hole 36. The protective shell 30 may be at least partially hollow, so that the protective shell 30 can be used to form the inner cavity 34 for installing the positioning mechanism 20. The protective shell 30 is provided with a through hole 36 connecting the accommodating space 11 and the inner cavity 34, and the through hole 36 may be a through hole penetrating the wall of the protective shell 30. The positioning mechanism 20 is installed in the inner cavity 34, and the positioning mechanism 20 at least partially extends into the accommodating space 11 through the through hole 36, so that the positioning mechanism 20 can be adapted to the positioning recess 250 of the cleaning robot 200. When the positioning mechanism 20 does not match the positioning recess 250 of the cleaning robot 200, the positioning mechanism 20 can move along the through hole 36 toward the inner cavity 34.

[0117] In some examples, the positioning mechanism 20 includes a first column 211a and a second column 211b, as described in any of the examples above. The protective shell 30 is provided with through holes 36 corresponding to the positions of the first column 211a and the second column 211b. When either the first column 211a or the second column 211b is in a avoidance state, the first column 211a or the second column 211b in the avoidance state can be at least partially accommodated within the through hole 36. In some examples, the protective shell 30 is provided with a first through hole 3631 adapted to the first column 211a and a second through hole 3632 adapted to the second column 211b. The first column 211a passes through the first through hole 3631, and the second column 211b passes through the second through hole 3632. In this example, the through hole 36 can be used to limit the movement trajectory of the positioning mechanism 20. In some examples, the positioning mechanism 20 includes a first column 211a and a second column 211b, as described in any of the above examples. One of the first column 211a and the second column 211b is provided with a convex surface 217, and the other is provided with a groove 218. The convex surface 217 and the groove 218 fit together to limit the movement of the first column 211a and the second column 211b, thereby guiding the movement direction of the first column 211a and the second column 211b. In some examples, one of the through hole 36 and the positioning mechanism 20 is provided with a protrusion 35, and the other is provided with a guide groove. The protrusion 35 is engaged with the guide groove. When the positioning mechanism 20 moves relative to the protective shell 30, the protrusion 35 and the first guide groove 24 can be used to guide and position the positioning mechanism 20. In some examples, the second column 211b is provided with a second guide groove 25, and the protective shell 30 is provided with a second protrusion 321. The second protrusion 321 is slidably connected to the second guide groove 25. In some examples, a guide post 23 is provided on the first column 211a, the guide post 23 is arranged side by side with the first column 211a, the connection between the guide post 23 and the first column 211a forms a first guide groove 24, and a first protrusion 353 is provided on the protective shell 30, the first protrusion 353 is slidably connected with the first guide groove 24.

[0118] Please see Figure 14In some examples, the positioning post 211 is movably connected to the body 10 along a first direction 14a, which is inclined relative to the horizontal plane. The movability of the positioning post 211 along the first direction 14a means that the positioning post 211 can move on the body 10 along the first direction 14a. In this example, the first direction 14a is inclined relative to the horizontal plane, meaning it is neither parallel nor perpendicular to the horizontal plane. In this example, the positioning post 211 can move along a direction inclined to the horizontal plane, allowing it to displace within a certain range in the horizontal or vertical direction. This allows the positioning post 211 to move relative to the positioning recess 250 when their positions do not correspond, aligning the positioning post 211 with the positioning recess 250. The positioning post 211 moves to the position of the positioning recess 250 and inserts into it.

[0119] Please see Figure 14 In some examples, the positioning mechanism 20 further includes a second elastic element 27 connected between the positioning post 211 and the body 10. The second elastic element 27 generates an elastic force on the positioning post 211 to move along a first direction 14a. The second elastic element 27 connects the positioning post 211 and the body 10 so that the positioning post 211 can move relative to the body 10. The second elastic element 27 can be a spring or other structure capable of elastic deformation under external force. When the positioning post 211 is squeezed by the cleaning robot 200 and is not aligned with the positioning recess 250, the positioning post 211 can squeeze the second elastic element 27 to move the positioning post 211 relative to the body 10. When the positioning post 211 moves to a position aligned with the positioning recess 250, the positioning post 211 can be inserted into the positioning recess 250. In this example, by employing a second elastic element 27 with elastic deformation properties, the relative position of the positioning post 211 can be finely adjusted, thereby allowing the positioning post 211 to be adapted to the position of the positioning recess 250.

[0120] In some examples, the body 10 is provided with a column limiting groove 131; the positioning column 211 includes a first segment 2191 and a second segment 2192 connected to the first segment 2191. The first segment 2191 is slidably connected to the column limiting groove 131, and the second segment 2192 protrudes from the column limiting groove 131. The second elastic member 27 is connected between the inner wall surface of the column limiting groove 131 and the first segment 2191.

[0121] The column limiting groove 131 can be a recessed groove formed on the body 10, or it can be a groove formed by a protruding structure on the body 10. The length direction of the column limiting groove 131 is parallel to the first direction 14a.

[0122] The positioning post 211 is partially slidably connected within the column limiting groove 131, allowing it to move along the first direction 14a under the limitation of the column limiting groove 131. The positioning post 211 includes a first segment 2191 and a second segment 2192 connected to each other. The first segment 2191 is slidably connected to the column limiting groove 131, and the second segment 2192 protrudes outside the column limiting groove 131. The second segment 2192 can be used to cooperate with the positioning recess 250. When the second segment 2192 and the positioning recess 250 are aligned, the second segment 2192 can be inserted into the positioning recess 250. A second elastic member 27 is disposed within the column limiting groove 131. One end of the second elastic member 27 is connected to the inner wall of the column limiting groove 131, and the other end is connected to the first segment 2191, allowing the second elastic member 27 to elastically limit the first segment 2191.

[0123] In some examples, the outer diameter of the second segment 2192 gradually decreases from the first segment 2191 towards the second segment 2192. In this example, the outer diameter of the second segment 2192 gradually decreases. Because the inner diameter of the end of the second segment 2192 away from the first segment 2191 is relatively smaller, it is easier for the end of the second segment 2192 away from the first segment 2191 to be inserted into the positioning recess 250. When the outer surface of the second segment 2192 is in contact with the surface of the positioning recess 250, the second segment 2192 can move towards the geometric center of the positioning recess 250 under the compression of the positioning recess 250, thereby making it easier for the positioning post 211 to align with the positioning recess 250. In some examples, the second segment 2192 may have a conical structure, or the second segment 2192 may be cut along a direction parallel to the axis of the second segment 2192, and the edge of the cut may be arc-shaped.

[0124] In some examples, there are multiple second elastic elements 27, with at least two second elastic elements 27 respectively disposed on both sides of the first segment 2191 along the first direction 14a. In this example, the number of second elastic elements 27 can be two or more, and the second elastic elements 27 can be used to elastically limit the positioning post 211 from multiple directions. The fact that at least two second elastic elements 27 are respectively disposed on both sides of the first segment 2191 along the first direction 14a means that both sides of the first segment 2191 along the first direction 14a are elastically limited by the second elastic elements 27, which can improve the structural stability of the positioning post 211.

[0125] Please see Figure 14 In some examples, the positioning mechanism 20 includes multiple column positioning grooves 131, each column positioning groove 131 is provided with a positioning post 211, and the first direction of movement of the positioning posts 211 in the multiple column positioning grooves 131 may be different.

[0126] Please see Figures 15 to 22 In some examples, the stair-climbing robot 100 also includes a hatch 50, which is movably connected to the body 10 between a closed position that closes the opening 12 and an open position that opens the opening 12. The stair-climbing robot 100 has a hatch 50 movably connected to the body 10 for opening or closing the opening 12. The hatch 50 has an open position and a closed position. When the hatch 50 is in the open position, the opening 12 is open, allowing the cleaning robot 200 to enter and exit the receiving space 11 through the opening 12. When the hatch 50 is in the closed position, the cleaning robot 200 cannot enter or exit the receiving space 11 through the opening 12. When the hatch 50 is in the closed position, the hatch 50 can be used to block the opening 12, restricting the cleaning robot 200 from moving out of the opening 12 and reducing the likelihood of the cleaning robot 200 sliding out of the opening 12 when the stair-climbing robot 100 moves between the first and second areas.

[0127] In some examples, the hatch of the stair-climbing robot 100 can move between an open and closed position under manual operation by the user.

[0128] In some examples, the stair-climbing robot 100 also includes a first drive module 53, which is configured to drive the door 50 from an open position to a closed position when the cleaning robot 200 enters the accommodating space 11, and to drive the door 50 from a closed position to an open position before the cleaning robot 200 leaves the accommodating space 11.

[0129] The first drive module 53 is connected to the hatch 50 via a transmission connection, meaning that the first drive module 53 can drive the hatch 50 to move relative to the body 10, allowing the hatch 50 to move between an open position and a closed position. When the cleaning robot 200 enters the receiving space 11, the first drive module 53 can drive the hatch 50 to move from the open position to the closed position, so that the opening 12 is closed, housing the cleaning robot 200 within the receiving space 11. When the cleaning robot 200 needs to leave the receiving space 11, the first drive module 53 can drive the hatch 50 to move relative to the body 10, so that the hatch 50 moves from the closed position to the open position, allowing the cleaning robot 200 to move outward through the opening 12. In this example, the first drive module 53 can drive the hatch 50 to rotate, slide, or a combination of rotation and sliding relative to the body 10. In some examples, the first drive module 53 can drive the hatch 50 to move upward, downward, or left and right in the direction above, below, or to the left and right of the body 10, so that the hatch 50 does not obstruct the cleaning robot 200 when it is open.

[0130] In this example, a stair-climbing robot 100 is used to carry a cleaning robot 200 to move within a target area, enabling the cleaning robot 200 to overcome height differences or obstacles between different areas for cleaning operations in different areas. Since the stair-climbing robot 100 has a walking component 60, it can move between a first area and a second area with a height difference, reducing the difficulty of moving the cleaning robot 200 between target areas. In this example, by providing a body 10 with a accommodating space 11, the cleaning robot 200 can be limited while the stair-climbing robot 100 is moving within the target area, keeping the cleaning robot 200 in a preset position on the body 10 and reducing the possibility of the cleaning robot 200 falling off the body 10. In this example, the first drive module 53 works in conjunction with the hatch 50 to limit the cleaning robot 200 after it enters the housing space 11, so that the cleaning robot 200 is kept in the housing space 11 in a preset position, further reducing the possibility of the cleaning robot 200 falling off the body 10. When the climbing robot 100 reaches the preset position, the first drive module 53 switches the hatch 50 to the open position, so that the cleaning robot 200 can move out of the housing space 11 through the opening 12 on the body 10, and then can perform cleaning operations in the target area, or perform charging, self-cleaning and other operations.

[0131] In some examples, the stair-climbing robot 100 may be equipped with a battery or a circuit module that can be connected to a power source, so that the cleaning robot 200 can be charged when it enters the accommodating space 11.

[0132] In some examples, the first drive module 53 is also configured to drive the hatch 50 from the open position to the closed position after the cleaning robot 200 leaves the accommodating space 11. In this example, when the stair-climbing robot 100 reaches a preset position, the cleaning robot 200 can be removed from the stair-climbing robot 100 to perform cleaning operations, or to perform charging, self-cleaning, or other operations. After the cleaning robot 200 leaves the accommodating space 11 through the opening 12, the first drive module 53 can drive the hatch 50 from the open position to the closed position to close the opening 12, thereby reducing the space occupied by the stair-climbing robot 100. In this example, an opening detection module can be provided on the body 10 to detect whether the cleaning robot 200 has left the accommodating space 11. The opening detection module can detect whether the cleaning robot 200 has left the accommodating space 11 through gravity, photoelectric, voltage, or other means. Upon detecting that the cleaning robot 200 has left the accommodating space 11, the first drive module 53 then drives the hatch 50 to move relative to the body 10. Of course, in some embodiments, after the cleaning robot 200 leaves the housing space 11, the hatch 50 can remain in the open position to wait for the cleaning robot 200 to complete its cleaning task and then continue to be carried.

[0133] Please refer to the following: Figures 17 to 24 In some examples, the stair-climbing robot 100 also includes a connection component 90, which includes a first door connector 91 and a second door connector 92. The first door connector 91 is provided on one of the door 50 and the body 10, and the second door connector 92 is provided on the other. The first door connector 91 and the second door connector 92 are used to connect to each other when the door 50 is in the closed position. The first drive module 53 is used to drive the first door connector 91 to connect or disconnect from the second door connector 92.

[0134] The connecting assembly 90 is used to connect the hatch 50 and the fuselage 10 so that when the hatch 50 is in the closed position, the connecting assembly 90 can limit the hatch 50 to keep it in the current closed position, reducing the possibility that the hatch 50 will open on its own when not necessary.

[0135] The connecting assembly 90 includes a first door connector 91 and a second door connector 92. The first door connector 91 is provided on one of the door 50 and the fuselage 10, and the second door connector 92 is provided on the other. In this application example, the first door connector 91 is provided on the door 50 and the second door connector 92 is provided on the fuselage 10.

[0136] The first hatch connector 91 and the second hatch connector 92 can be connected to each other when the hatch 50 is in the closed position. This connection includes mutual insertion, mutual snap-fit, mutual magnetic connection, or other methods to keep the hatch 50 in the closed position. Disconnection means that the first hatch connector 91 and the second hatch connector 92 are disengaged so that there is no mutual traction or obstruction between them. The first drive module 53 is connected to at least one of the first hatch connector 91 and the second hatch connector 92, allowing the first drive module 53 to drive relative movement between the first hatch connector 91 and the second hatch connector 92, thereby connecting or disconnecting them. When the hatch 50 is in the closed position, the first drive module 53 can be used to drive the first hatch connector 91 and the second hatch connector 92 to connect with each other. When it is necessary to open the hatch 50, the first drive module 53 can be used to drive the first hatch connector 91 and the second hatch connector 92 to disconnect from each other. In this example, by setting the connecting component 90, the hatch 50 and the body 10 can be locked and unlocked, thereby keeping the hatch 50 in a relatively fixed state when the cleaning robot 200 is located in the accommodating space 11, reducing the problem of the cleaning robot 200 moving out of the accommodating space 11 due to the movement of the hatch 50 from the closed position to the open position. When the hatch 50 is in the closed position, the hatch 50 can also be used to limit the cleaning robot 200, and the connecting component 90 can be used to fix the hatch 50. When it is necessary to move the cleaning robot 200 out of the accommodating space 11, or when it is necessary to move the cleaning robot 200 into the accommodating space 11, the first door connector 91 and the second door connector 92 can be disconnected from each other so that the door 50 can be moved to the open position, making it convenient for the cleaning robot 200 to move in and out through the opening 12.

[0137] In some examples, the first drive module 53 includes a drive mechanism 531 and a first transmission module 54 that is drive mechanism 531. The drive mechanism 531 drives at least one of the first door connector 91 and the second door connector 92 to move relative to the body 10 through the first transmission module 54, so that the first door connector 91 and the second door connector 92 are connected or disconnected.

[0138] The drive mechanism 531 can serve as the power source for the first drive module 53, and the first transmission module 54 can be used to transmit the power output by the drive mechanism 531. The first transmission module 54 is connected to at least one of the first hatch connector 91 and the second hatch connector 92, so that the drive mechanism 531 can drive at least one of the first hatch connector 91 and the second hatch connector 92 to move relative to the body 10 through the first transmission module 54, thereby causing the first hatch connector 91 and the second hatch connector 92 to move relative to each other, realizing the connection or disconnection of the first hatch connector 91 and the second hatch connector 92. In this example, the first transmission module 54 can be connected to one of the first hatch connector 91 and the second hatch connector 92. The other structure of the first hatch connector 91 and the second hatch connector 92 that is not connected to the first transmission module 54 can remain fixed relative to the body 10. When the first transmission module 54 drives the first hatch connector 91 or the second hatch connector 92 connected to it to move, the first hatch connector 91 and the second hatch connector 92 are connected or disconnected. In some examples, the first transmission module 54 can be connected to the first door connector 91 and the second door connector 92 respectively, so that the first door connector 91 and the second door connector 92 can move in opposite directions. When the first door connector 91 and the second door connector 92 are far apart, they are disconnected from each other. When the first door connector 91 and the second door connector 92 are close to each other, they are connected to each other.

[0139] In this example, the drive mechanism 531 can be a motor, cylinder, or other device capable of outputting power. The first transmission module 54 can serve as a transmission structure between the drive mechanism 531 and the connecting assembly 90, for transmitting the power output by the drive mechanism 531, so that the connecting assembly 90 can be linked with the first transmission module 54 to realize the disconnection or connection of the first door connector 91 and the second door connector 92.

[0140] In some examples, the drive mechanism 531 can be an electromagnet, and one of the first hatch connector 91 and the second hatch connector 92 can be made of a magnetic material. When the drive mechanism 531 attracts one of the first hatch connector 91 and the second hatch connector 92, causing the first hatch connector 91 and the second hatch connector 92 to disconnect from each other, the hatch 50 can be opened.

[0141] In some examples, a first door connector 91 is movably mounted on one of the hatch 50 and the fuselage 10, and a second door connector 92 is fixedly or movably mounted on the other of the hatch 50 and the fuselage 10. A first transmission module 54 is connected to the first door connector 91. In this example, a drive mechanism 531 is used to drive the first door connector 91 relative to the fuselage 10 via the first transmission module 54, so that the first door connector 91 is connected to or disconnected from the second door connector 92. The second door connector 92 can be installed on one of the hatch 50 or the fuselage 10, and correspondingly, the first door connector 91 can be installed on the other of the hatch 50 or the fuselage 10. Through the cooperation of the first door connector 91 and the second door connector 92, the hatch 50 can move between an open position and a closed position. In this example, the first door connector 91 is movably mounted on the door 50, and the second door connector 92 is mounted on the body 10. The first door connector 91 can move relative to the door 50 under the action of the first transmission module 54. The second door connector 92 can be directly fixed to the body 10. When the first door connector 91 and the second door connector 92 are connected, the first door connector 91 can magnetically attract, plug into, or hook with the second door connector 92. The second door connector 92 can also be movably mounted on the body 10. When the first door connector 91 approaches the second door connector 92, the second door connector 92 can move within a certain range relative to the body 10 and connect with the first door connector 91.

[0142] In some examples, the first transmission module 54 includes a cable, one end of which is connected to a drive mechanism 531, and the other end of which is connected to a first door connector 91. The drive mechanism 531 is used to retract or release the cable to move the first door connector 91 relative to a second door connector 92. The cable can be a long strip of metal or non-metal structure. The drive mechanism 531 pulls the first door connector 91 via the cable during operation, causing it to move relative to the second door connector 92. In this example, the drive mechanism 531 can retract or release the cable. The movement of the first door connector 91 when it is pulled by the cable can be controlled by setting the cable's laying position and direction, as well as its connection position with the first door connector 91. In this example, the cable can be laid along the surface of the fuselage 10 to reduce interference between the cable and other structures of the fuselage 10. In some examples, a groove can be provided on the body 10 to limit the cable extension and retraction direction, thereby improving the directional nature of the cable movement.

[0143] In some examples, the drive mechanism 531 retracts the cable to move the first door connector 91 in a direction disconnected from the second door connector 92, and releases the cable to allow the first door connector 91 to move in a direction connected to the second door connector 92. When the drive mechanism 531 retracts the cable, the cable can move the first door connector 91 away from the second door connector 92 to disconnect the first door connector 91 from the second door connector 92. When the drive mechanism 531 releases the cable, the first door connector 91 can move towards the second door connector 92 to connect the first door connector 91 and the second door connector 92.

[0144] In some examples, a first door connector 91 is movably mounted on the door 50, a second door connector 92 is fixedly or movably mounted on the fuselage 10, and a drive mechanism 531 is mounted on the fuselage 10. The drive mechanism 531 retracts a cable to move the first door connector 91 in a direction disconnected from the second door connector 92, and to move the door 50 from a closed position to an open position. The drive mechanism 531 releases the cable to allow the first door connector 91 to move in a direction connected to the second door connector 92, and to allow the door 50 to move from an open position to a closed position. The first door connector 91 is movably mounted on the door 50 so that it can move relative to the door 50. The drive mechanism 531 is mounted on the fuselage 10 and can pull the first movable component via a cable. Through the release and retraction of the cable, the first door connector 91 can move relative to the door 50. The second door connector 92 is mounted on the fuselage 10, acting as a passive component and the first door connector 91 as an active component. When the first door connector 91 moves closer to the second door connector 92, it can connect with the second door connector 92. When the first door connector 91 moves away from the second door connector 92, it can disconnect from the second door connector 92. When the first door connector 91 and the second door connector 92 are connected, the hatch 50 is fixed to the fuselage 10 via the connecting assembly 90, keeping the hatch 50 in the closed position. When the first door connector 91 and the second door connector 92 are disconnected, the hatch 50 is no longer restricted by the connecting assembly 90 and can move to the open position.

[0145] In some examples, the first drive module 53 further includes a second reset member 55, which is connected between the hatch 50 and the fuselage 10. The second reset member 55 is used to move the hatch 50 from the open position to the closed position when the cable is released. The second reset member 55 is used to reset the hatch 50. In this example, the second reset member 55 is connected between the hatch 50 and the fuselage 10, and it exerts a force on the hatch 50 to move it from the open position to the closed position. In some examples, the second reset member 55 can be a torsion spring or other structure capable of enabling the hatch 50 to overcome gravity and move towards the closed position.

[0146] In some embodiments, the first door connector 91 may also be movably disposed on the body 10, and the second door connector 92 may be fixedly or movably disposed on the body 10.

[0147] In some embodiments, the second reset member 55 can be omitted. The first drive module 53 uses two cables to move the hatch 50 from the open position to the closed position and from the closed position to the open position, respectively. When one cable is in the released state, the other cable is in the retracted state, and vice versa. In this embodiment, the two cables can share one drive mechanism 531, or two drive mechanisms 531 can be provided, each drive mechanism 531 connected to one cable.

[0148] In some embodiments, the second reset member 55 may be omitted. The first drive module 53 includes two cables, one of which can act on the hatch and the other can act on the movable first hatch connector or the second hatch connector to control the connection and disconnection of the first hatch connector and the second hatch connector. For example, when the hatch is in the closed position, the cable acting on the connecting component is in the released state. When the cable is contracted, the connecting component is disconnected. When the cable is released, the cable acting on the hatch is in the tightened state. When the cable is released, the hatch opens under the action of gravity.

[0149] In some examples, the connecting assembly 90 further includes a first reset member 93 connected between the first door connector 91 and the door 50 or the fuselage 10. The first reset member 93 is used to reset the first door connector 91 in the direction of connection with the second door connector 92. The first reset member 93 is used to reset the first door connector 91 so that the first door connector 91 has a tendency to move towards the second door connector 92, thus having a tendency to connect with the second door connector 92. In this example, the first reset member 93 can be a spring or other damping structure capable of generating a force that causes the first door connector 91 to move towards the second door connector 92 against gravity and the traction force of the cables.

[0150] In some embodiments, one of the first hatch connector 91 and the second hatch connector 92 may be fixedly mounted on the body 10, and the other may be fixedly mounted on the hatch 50. That is, the first reset member 93 may be omitted. The first drive module 53 acts directly on the hatch 50, driving the hatch 50 to move between the open position and the closed position.

[0151] In some embodiments, the hatch can be moved from an open position to a closed position by retracting the cable. When the cable is released, the hatch moves from the closed position to the open position under the action of the second reset member. In this embodiment, the cable can directly act on the hatch. Of course, it is easy to understand that when using a non-cable-stayed first transmission module 54, a drive mechanism can be used to move the hatch from the open position to the closed position through the first transmission module 54, while the second reset member moves the hatch from the closed position to the open position.

[0152] In some embodiments, the first drive module 53 may also directly adopt a power form with linear telescopic function, such as a push rod motor, pneumatic rod or hydraulic rod, to directly push the hatch to open or close. For example, the first drive module 53 extends to push the hatch 50 from the closed position to the open position, and the first drive module 53 retracts to pull the hatch 50 from the open position to the closed position. In this embodiment, the first transmission module 54 can be directly omitted.

[0153] In some embodiments, the first drive module 53 may also include an electromagnet, which connects the first door connector 91 and the second door connector 92 by energizing them and disconnects them by de-energizing them.

[0154] Please see Figure 23 and Figure 24 In some examples, the first transmission module 54 includes a lead screw 532, a lead screw nut 533, and a rotating rod 541. The drive mechanism 531 is connected to the lead screw 532. The lead screw nut 533 is sleeved on the lead screw 532. One end of the rotating rod 541 is connected to the lead screw nut 533, and the other end is connected to the first hatch connector 91. The drive mechanism 531 is used to drive the lead screw 532 to rotate, so that the lead screw nut 533 drives the rotating rod 541 to rotate. The rotating rod 541 is used to drive the first hatch connector 91 to move relative to the second hatch connector 92.

[0155] The drive mechanism 531 drives the lead screw 532 to rotate. The lead screw nut 533 is sleeved on the lead screw 532. When the lead screw 532 rotates, the lead screw nut 533 can move along the axial direction of the lead screw 532. One end of the rotating rod 541 is connected to the lead screw nut 533, and the other end of the rotating rod 541 is connected to the first hatch connector 91. When the drive mechanism 531 drives the lead screw 532 to rotate, the lead screw nut 533 moves along the axial direction of the lead screw 532, thereby driving the rotating rod 541 to rotate synchronously. The rotating rod 541 can drive the first hatch connector 91 to rotate, so that the first hatch connector 91 moves closer to or further away from the second hatch connector 92. In this example, the rotating rod 541 can be a crank structure. The drive mechanism 531, the lead screw 532, and the lead screw nut 533 are combined to form the lead screw 532 drive mechanism 531, which drives the rotating rod 541 to move, thereby realizing the movement of the first hatch connector 91.

[0156] In other embodiments, a gear rack, worm gear, or similar combination can be used to replace the lead screw and lead screw nut.

[0157] Please refer to it again. Figures 19 to 22 In some examples, the connecting components 90 are provided in multiple sets, and the first drive module 53 also includes a connecting rod 70 connected to the first transmission module 54. The multiple sets of connecting components 90 are all connected to the connecting rod 70. The drive mechanism 531 drives the connecting rod 70 to move relative to the body 10 through the first transmission module 54, so as to drive at least one of the first door connector 91 and the second door connector 92 to move relative to the body 10.

[0158] Multiple sets of connecting components 90 can be arranged at intervals so that the multiple sets of connecting components 90 can limit the movement of the hatch 50 from different parts. This example illustrates the situation with connecting components 90 provided at both ends along the length of the hatch 50.

[0159] In some examples, the stair-climbing robot 100 includes multiple sets of first drive modules 53, with at least one first drive module 53 provided for each set of connecting components 90, so as to independently control the multiple sets of connecting components 90 through the first drive module 53.

[0160] In some examples, the stair-climbing robot 100 includes multiple sets of connection components 90, which can share a first drive module 53.

[0161] The first drive module 53 also includes a connecting rod 70, which connects multiple connecting components 90 so that the first transmission module 54 can synchronously drive the movement of the multiple connecting components 90 through the connecting rod 70, thereby achieving synchronous opening and closing of the multiple connecting components 90. In this example, the connecting rod 70 can connect the first door connectors 91 of the multiple connecting components 90. The rotation, translation, or a combination of rotation and translation of the connecting rod 70 can cause the multiple first door connectors 91 to move synchronously toward or away from the second door connectors 92 of the multiple connecting components 90. In this example, the connecting rod 70 can also connect the multiple second door connectors 92. The way in which the first transmission module 54 drives the second door connectors 92 through the connecting rod 70 is the same as the way in which the first transmission module 54 drives the first door connectors 91 through the connecting rod 70, and will not be described again. In this example, the connecting rod 70 can connect the first hatch connector 91 and the second hatch connector 92 simultaneously. In this example, the first transmission module 54 can control the forward and reverse movement of the connecting rod 70 to control the relative approach or distance between the first hatch connector 91 and the second hatch connector 92. Forward movement can be forward rotation or forward sliding. Correspondingly, movement in the opposite direction to forward rotation or forward sliding is reverse movement.

[0162] In some examples, when hatch 50 is in the closed position, the connecting assembly 90 is also configured to be manually disconnected from the second hatch connector 92 by the user. In this example, the first hatch connector 91 and the second hatch connector 92 can be connected or disconnected by the user pressing, pulling, or other means. For example, the first hatch connector 91 may have a resilient switch; when the first hatch connector 91 and the second hatch connector 92 are connected, the first resilient switch can be plugged into the second hatch connector 92; when the user presses the resilient switch, the resilient switch moves away from the second hatch connector 92, thereby disengaging the first hatch connector 91 from the second hatch connector 92. In this example, when the first drive module 53 fails, the user can manually open or close hatch 50.

[0163] In some examples, the first hatch connector 91 and the second hatch connector 92 are snap-fitted together. In this example, the first hatch connector 91 and the second hatch connector 92 are snap-fitted together so that the first hatch connector 91 is in a connected state. When the first hatch connector 91 and the second hatch connector 92 are disconnected, the snap-fit ​​of the first hatch connector 91 and the second hatch connector 92 disengages. In this example, the snap-fit ​​connection can be provided on one of the first hatch connector 91 and the second hatch connector 92, or it can be provided on both the first hatch connector 91 and the second hatch connector 92.

[0164] In some examples, the first drive module 53 includes a drive mechanism 531, a first transmission module 54, and a second reset member 55. The drive mechanism 531 is driveably connected to the first transmission module 54, which is connected to the hatch 50. The second reset member 55 is connected between the hatch 50 and the fuselage 10. The drive mechanism 531 drives the hatch 50 from a closed position to an open position via the first transmission module 54. The second reset member 55 drives the hatch 50 from an open position to a closed position. The drive mechanism 531 drives the first transmission module 54 to move, so that the first transmission module 54 can drive the hatch 50 to move, thereby allowing the hatch 50 to move from the closed position to the open position. The second reset member 55 can generate a force on the hatch 50 to move it from the open position to the closed position.

[0165] In some examples, unlike the previous example, the drive mechanism 531 drives the hatch 50 from the open position to the closed position via the first transmission module 54, and the second reset member 55 drives the hatch 50 from the closed position to the open position. In this example, the drive mechanism 531 and the first transmission module 54 are used to close the hatch 50, and the second reset member 55 is used to open the hatch 50.

[0166] In some examples, the hatch 50 is rotatably connected to the fuselage 10. This rotatable connection in this example facilitates quick assembly and disassembly of the hatch 50 and fuselage 10, improves the reliability of the connection, and allows for easier control of the hatch 50's directional movement between the open and closed positions. In some examples, the hatch 50 can be connected to the fuselage 10 via a rotating shaft 501.

[0167] In some examples, the hatch 50 and the positioning mechanism 20 are respectively located on opposite sides of the body 10. In this example, the cleaning robot 200 can enter the accommodating space 11 through the opening 12 and continue to move towards the positioning mechanism 20, so that the positioning recess 250 on the cleaning robot 200 can face the positioning mechanism 20. Therefore, after the cleaning robot 200 enters the accommodating space 11, there is no need to adjust the angle of the cleaning robot 200, which simplifies the docking between the positioning mechanism 20 and the cleaning robot 200.

[0168] In some examples, a positioning protrusion 52 protrudes from the side of the hatch 50 facing the accommodating space 11, and the positioning protrusion 52 is used to abut against the cleaning robot 200. When the hatch 50 is in the closed position, the positioning protrusion 52 is provided on the side of the hatch 50 facing the accommodating space 11, and the positioning protrusion 52 can be a protrusion 35 protruding from the hatch 50. After the cleaning robot 200 enters the accommodating space 11, the hatch 50 switches to the closed position. At this time, the positioning protrusion 52 can be used to abut against the surface of the cleaning robot 200. On the one hand, it can restrict the cleaning robot 200 from moving away from the positioning mechanism 20 within the accommodating space 11, reducing the possibility of the cleaning robot 200 detaching from the positioning mechanism 20. On the other hand, it can reduce the gap between the cleaning robot 200 and the hatch 50, reducing the shaking of the cleaning robot 200 relative to the body 10.

[0169] In some examples, the hatch 50 is provided with a viewing window 51 communicating with the accommodating space 11. The viewing window 51 can be a through slot formed in the hatch 50, allowing observation of the interior of the accommodating space 11 and the status of the cleaning robot 200 within the accommodating space 11. In some examples, the viewing window 51 can be located in the middle of the hatch 50. In other examples, a viewing window 51 is also provided on the body 10, allowing the user to observe the status of the accommodating space 11 from the outside of the body 10; in some examples, the body 10 has an upper shell 17 located at the top of the body 10, and a viewing window 51 can also be provided on the upper shell 17.

[0170] In some examples, the cleaning robot 200 has a forward-looking module 254, with positioning protrusions 52 on its left and right sides. The forward-looking module 254 can be composed of components such as sensors. The positioning protrusions 52 on the left and right sides of the forward-looking module 254 are staggered from each other, so that the positioning protrusions 52 do not directly abut against the surface of the forward-looking module 254, thereby reducing the possibility of the positioning protrusions 52 causing crush damage to the forward-looking module 254. In some examples, a viewing window 51 is provided on the door 50. When the cleaning robot 200 is located within the accommodating space 11, the viewing window 51 corresponds to the position of the forward-looking module 254, so as not to obstruct the field of vision of the forward-looking module 254. This allows the cleaning robot 200 to detect the surrounding environment even when it is inside the stair-climbing robot, thus compensating for the blind spots of the stair-climbing robot.

[0171] In some examples, the cleaning robot 200 has a collision strip 255, and positioning protrusions 52 are used to abut against the collision strip 255 when the cleaning robot 200 is docked in the receiving space 11. The collision strip 255 can be an elastic buffer structure provided on the surface of the cleaning robot 200, and the collision strip 255 can be provided on the side wall 16 of the cleaning robot 200. The positioning protrusions 52 are used to abut against the collision strip 255 when the cleaning robot 200 is docked in the receiving space 11 to reduce damage to the body 210 of the cleaning robot 200.

[0172] In some examples, the hatch 50 is rotatably connected to the body 10; when the hatch 50 is in the closed position, the free end of the hatch 50 is located above the connecting end of the hatch 50, and the cleaning robot 200 enters the receiving space 11 along the surface of the hatch 50, wherein the connecting end of the hatch 50 is rotatably connected to the body 10; when the hatch 50 is in the open position, the free end of the hatch 50 is not higher than the connecting end of the hatch 50. The hatch 50 has a connecting end and a free end that are arranged opposite each other, wherein the connecting end is rotatably connected to the body 10, and the free end is located away from the connecting end. When the hatch 50 is in the closed position, the free end of the hatch 50 is above the connecting end. In this example, when the hatch 50 is in the closed position, the free end of the hatch 50 can be located vertically above the connecting end, or the free end of the hatch 50 can be located diagonally above the connecting end. When the hatch 50 is in the open position, its surface can form a ramp for the cleaning robot 200 to walk on, allowing it to enter the accommodating space 11. In this example, the surface of the hatch 50 can be a smooth surface or a surface with anti-slip features. In some examples, when the hatch 50 is in the open position, the free end of the hatch 50 is not higher than the connecting end. In this example, when the hatch 50 is in the open position, it can serve as a support for the cleaning robot 200 to enter and exit the accommodating space 11. By ensuring that the free end of the hatch 50 is not higher than the connecting end, on the one hand, the height difference between the free end of the hatch 50 and the ground can be reduced during the cleaning robot 200's entry into the accommodating space 11, reducing the possibility of the free end of the hatch 50 obstructing the cleaning robot 200; on the other hand, the shaking problem caused by the height difference between the free end of the hatch 50 and the ground during the cleaning robot 200's exit from the accommodating space 11 can be reduced.

[0173] In some examples, the hatch 50 is rotatably connected to the body 10; when the hatch 50 is in the closed position, the free end of the hatch 50 is located below the connected end of the hatch 50; when the hatch 50 is in the open position, the free end of the hatch 50 flips upward toward the body 10 so that the hatch 50 does not obstruct the opening 12, and the cleaning robot 200 can enter the accommodating space 11 through the opening 12.

[0174] Please see Figures 25 to 27 In some examples, the stair-climbing robot 100 also includes a positioning detection component, which includes at least one of a closure detection component 19 and an opening detection component 101; the closure detection component 19 is connected to the body 10 or the hatch 50 and is used to detect whether the hatch 50 has reached the closed position; the walking component 60 is used at least to drive the body 10 to walk in the target area after the hatch 50 has reached the closed position; the opening detection component 101 is connected to the body 10 or the hatch 50 and is used to detect whether the hatch 50 has reached the open position.

[0175] The positioning detection component can be used to detect the opening and closing status of the hatch 50.

[0176] The closure detection component 19 is used to detect whether the hatch 50 has reached the closed position. In some examples, the stair-climbing robot 100 can only move when the closure detection component 19 detects that the hatch 50 is in the closed position. When the hatch 50 is in the closed position, the stair-climbing robot 100 includes at least two states: one is that the cleaning robot 200 has entered the accommodating space 11, and the stair-climbing robot 100 may need to move the cleaning robot 200 in the target area; the other is that the cleaning robot 200 moves out of the accommodating space 11, in which case it is not necessary to limit the cleaning robot 200 through the hatch 50, and switching the hatch 50 to the closed state can reduce the space occupied by the stair-climbing robot 100. The closure detection component 19 is used to detect whether the hatch 50 has reached the closed position. When the hatch 50 reaches the closed position, the walking component 60 can drive the body 10 to walk in the target area. At this time, the stair climbing robot 100 can be in a state of carrying the cleaning robot 200 or in an empty state. When the stair climbing robot 100 carries the cleaning robot 200, it can drive the cleaning robot 200 to walk in the target area. When the stair climbing robot 100 is in an empty state, the mobile robot can move to the storage position, or the mobile robot can move towards the cleaning robot 200.

[0177] The detection component 101 is used to detect whether the hatch 50 is in the open position. The hatch 50 being in the open position includes at least two situations: one is that the cleaning robot 200 needs to move out of the containment space 11 through the opening 12, and the other is that the cleaning robot 200 located outside the stair-climbing robot 100 needs to enter the containment space 11.

[0178] In this example, the closure detection component 19 and the opening detection component 101 can use the same detection method, for example, both can be contact detection or non-contact detection. In some examples, the closure detection component 19 and the opening detection component 101 can use different detection methods.

[0179] In some examples, the positioning detection component includes a resilient contact 192 and a positioning sensor 191, at least a portion of the resilient contact 192 being movably positioned between a contact position and a disengaged position, the resilient contact 192 being used to contact the hatch 50 at the contact position; and the positioning sensor 191, cooperating with the resilient contact 192, the positioning sensor 191 being triggered at least when the resilient contact 192 is in the contact position.

[0180] The elastic contact 192 is at least partially elastically deformable, allowing it to move between a contact position and a disengaged position. The position sensor 191 is triggered when the elastic contact 192 is in the contact position, meaning it sends an electrical signal to confirm that the hatch 50 has reached the closed position. When the elastic contact 192 is in the disengaged position, it indicates that the hatch 50 is not in contact with the elastic contact 192 and is not in the closed position. This example uses a combination of the elastic contact 192 and the position sensor 191 to automatically detect whether the hatch 50 has reached the closed position.

[0181] In some examples, the elastic contact 192 includes a fixed box 194, a third reset member 195, and a floating column 193, which are connected to the body 10. The fixed box 194 is provided with a positioning groove 196; the third reset member 195 is disposed in the positioning groove 196; the floating column 193 passes through the positioning groove 196 and is connected to the third reset member 195. The third reset member 195 is used to generate a force on the floating column 193 to move it to the disengagement position.

[0182] The mounting box 194 can serve as the housing structure for the positioning sensor 191, facilitating the fixing of the positioning sensor 191 to a preset position on the body 10. The mounting box 194 is at least partially hollow, allowing it to form a positioning groove 196.

[0183] The third reset element 195 can be a spring or other damping element with elastic deformation properties installed in the positioning groove 196.

[0184] The floating column 193 is connected to the third reset member 195. When the floating column 193 is pressed by the hatch 50, the third reset member 195 provides an elastic reset force to the floating column 193. In some examples, the floating column 193 can directly contact the hatch 50. In other examples, a contact portion 197 can be provided on the floating column 193, through which the floating column 193 contacts the hatch 50. When the hatch 50 is in the closed position, the hatch 50 presses against the floating column 193, causing the floating column 193 to move towards the contact position. The floating column 193 presses against the third reset member 195, at which point the third reset member 195 exerts a reverse force on the floating column 193, causing the floating column 193 to tend to move towards the disengagement position. In some examples, the hatch 50 has a connecting assembly 90 as described in any of the examples above. When the first hatch connector 91 and the second hatch connector 92 of the connecting assembly 90 are connected to each other, the hatch 50 is defined by the first hatch connector 91 and the second hatch connector 92. At this time, the elastic force exerted by the third reset member 195 on the floating column 193 is less than the force exerted by the connection between the first hatch connector 91 and the second hatch connector 92, so that the hatch 50 is kept in the closed position. When the first hatch connector 91 and the second hatch connector 92 are disconnected, under the action of the elastic force of the third reset member 195, the floating column 193 pushes against the hatch 50, so that the hatch 50 tends to move towards the open position.

[0185] In some examples, the open detection component 101 and the closed detection component 19 may share a set of sensor components to simplify the structure of the position detection component and make concentrated use of the internal space of the body.

[0186] In some examples, the position detection component can detect the state of the hatch 50 by detecting the operating state of the first drive module 53. For example, the first drive module 53 includes a motor, and the position detection component can determine the opening and closing state of the hatch 50 by detecting the position of the motor encoder.

[0187] Please see Figure 28 , Figure 29 and Figure 30In some examples, the stair-climbing robot 100 also includes an in-situ detection component 110, which is mounted on the body 10 and used to detect whether the cleaning robot 200 has moved into the accommodating space 11. The stair-climbing robot 100 also includes a first drive module 53, which is configured to drive the hatch 50 from an open position to a closed position when the cleaning robot 200 enters the accommodating space 11, and to drive the hatch 50 from a closed position to an open position before the cleaning robot 200 leaves the accommodating space 11. The first drive module 53 is configured to drive the hatch 50 from an open position to a closed position when the in-situ detection component 110 detects that the cleaning robot 200 has moved into the accommodating space 11. The in-situ detection component 110 can be a contact detection device or a non-contact detection device. The first drive module 53 is electrically connected directly or indirectly to the in-situ detection component 110. The in-situ detection component 110 is installed on the body 10 and is used to detect whether the cleaning robot 200 has entered the accommodating space 11. When the cleaning robot 200 is detected to have entered the accommodating space 11, the first drive module 53 drives the door 50 from the open position to the closed position to close the opening 12.

[0188] In some examples, the in-situ detection component 110 may be a Hall sensor, a photoelectric sensor, or other single detection sensor capable of directly performing in-situ detection.

[0189] In some examples, the presence detection component 110 includes a trigger sensor 111 and a trigger 112. The trigger 112 has a first position and a second position and is movable relative to the body 10 between the first and second positions. When the trigger 112 is in the first position, the trigger sensor 111 generates a first presence signal. The trigger 112 is configured to be pushed by the cleaning robot 200 and move from the second position to the first position when the cleaning robot 200 moves into the accommodating space 11. The trigger 112 is used to perform contact presence detection with the cleaning robot 200 when the cleaning robot 200 enters the accommodating space 11. When the cleaning robot 200 enters the accommodating space 11 and the trigger 112 is in the first position, it indicates that the cleaning robot 200 has entered a preset position within the accommodating space 11. At this time, the trigger sensor 111 generates the first presence signal to indicate that the cleaning robot 200 has reached the preset position. In some examples, the first drive module 53 is configured to drive the hatch 50 from the open position to the closed position when a first presence signal is received. In some examples, the trigger sensor 111 and the trigger element 112 can be integrated for easy one-piece installation; in some examples, the trigger sensor 111 and the trigger element 112 can be installed separately, which can make full use of the internal space of the fuselage 10 and allow for independent disassembly and replacement of the trigger sensor 111 or the trigger element 112.

[0190] In some examples, the presence detection component 110 further includes a first contact 113 and a spring element 114. The first contact 113 is movably disposed on the body 10. The trigger element 112 is connected to the first contact 113. The spring element 114 is connected between the first contact 113 and the body 10. The first contact 113 is used to contact the second contact 240 of the cleaning robot 200. The first contact 113 is configured such that when the cleaning robot 200 moves into the accommodating space 11, it is pushed by the cleaning robot 200, thereby causing the trigger element 112 to move from the second position to the first position. The spring element 114 is used to reset the first contact 113 so that the first contact 113 causes the trigger element 112 to move from the first position to the second position.

[0191] The cleaning robot 200 has a second contact 240, which can be a preset positioning structure set on the cleaning robot 200. When the cleaning robot 200 enters the accommodating space 11 through the opening 12, the second contact 240 moves toward the in-situ detection component 110.

[0192] The first contact 113 is movably disposed on the body 10 so that it can move relative to the body 10 when subjected to an external force. The first contact 113 is disposed on the side of the body opposite to the opening 12. When the cleaning robot 200 enters the accommodating space 11 through the inlet, the second contact 240 moves toward the first contact 113.

[0193] The elastic element 114 is connected between the body 10 and the first contact 113 so that when the first contact 113 is subjected to external force, it can compress the elastic element 114. When the force acting on the first contact 113 disappears, the elastic element 114 can generate a restoring elastic force on the first contact 113. In this example, the elastic element 114 can be a spring, a metal sheet, or other structure that can elastically deform when subjected to external force.

[0194] When the cleaning robot 200 moves to a preset position within the accommodating space 11, it pushes the first contact point 113, which compresses the elastic member 114, causing the elastic member 114 to exert a force on the first contact point 113 in the inlet direction. The first contact point 113 then moves the trigger member 112 from the second position to the first position. When the trigger member 112 moves to the first position, the trigger sensor 111 generates a first presence signal. When the cleaning robot 200 moves outside the body 10, the force acting on the first contact point 113 decreases until it disappears. At this time, the elastic member 114 can push the first contact point 113 to reset, and the first contact point 113 then moves the trigger member 112 from the first position to the second position.

[0195] The first contact 113 and the second contact 240 are in contact, meaning that the first contact 113 and the second contact 240 can abut against each other, plug into each other, or be connected to each other in other ways. In this example, the first contact 113 and the second contact 240 can be in point contact, line contact, surface contact, or a combination of multiple contact methods.

[0196] In some examples, the stair-climbing robot 100 is configured to, when the trigger sensor 111 generates a first presence signal, connect the first contact 113 and the second contact 240 to generate a second presence signal. Based on the first and second presence signals, the first drive module 53 drives the hatch 50 from the open position to the closed position. The first contact 113 is used to dock with the second contact 240. When the cleaning robot 200 enters the accommodating space 11, the first contact 113 and the second contact 240 dock with each other. When the trigger sensor 111 generates the first presence signal, it indicates that the cleaning robot 200 has reached a preset position. Connecting the first contact 113 and the second contact 240 means that the first contact 113 and the second contact 240 are electrically connected to generate the second presence signal. The first drive module 53 is electrically connected to the trigger sensor 111. Based on the first and second presence signals, the first drive module 53 drives the hatch 50 from the open position to the closed position to close the opening 12 of the accommodating space 11. In this example, the need to close the hatch 50 is determined by whether the second contact 240 of the cleaning robot 200 is connected to the first contact 113, so as to achieve precise control of the hatch 50.

[0197] In some examples, the stair-climbing robot 100 is also configured to disconnect the first contact 113 and the second contact 240 to disconnect the second presence signal, and, based on the disconnected second presence signal, instruct the cleaning robot 200 to leave the accommodating space 11; the first drive module 53, based on the disconnected second presence signal and the disconnected first presence signal, delays the movement of the hatch 50 from the open position to the closed position. When the cleaning robot 200 needs to move out of the accommodating space 11, the stair-climbing robot 100 disconnects the first contact 113 and the second contact 240, at which point the second presence signal is disconnected. In this example, the second presence signal can be disconnected by moving the cleaning robot 200 away from the first contact 113. When the second presence signal is disconnected, indicating that the cleaning robot 200 needs to move out of the accommodating space 11, the first drive module 53 drives the hatch 50 to switch to the open position so that the cleaning robot 200 can move out from the opening 12. The first drive module 53 drives the hatch 50 to switch from the open position to the closed position based on a delay caused by the disconnected second presence signal and the disconnected first presence signal. The delay can be determined according to the size and moving speed of the cleaning robot 200. When the preset time is reached, the first drive module 53 drives the hatch 50 to switch to the closed position to close the opening 12 of the body 10.

[0198] In some examples, the presence detection component 110 and the positioning mechanism 20 are both located on the side of the body 10 opposite to the opening 12. In this example, by arranging the presence detection component 110 and the positioning mechanism 20 on the same side of the body 10, the space on the side of the body 10 opposite to the opening 12 can be fully utilized. When the positioning mechanism 20 is inserted into the positioning recess 250 of the cleaning robot 200, the presence detection component 110 acquires the presence signal of the cleaning robot 200 to improve the accuracy of the position detection of the cleaning robot 200. In some examples, the stair-climbing robot 100 includes a door 50, which is located on the side of the opening 12 of the body 10. The door 50 can be used to increase the counterweight on the side of the body 10 opposite to the door 50, thereby improving the balance of the weight distribution of the body 10.

[0199] Please see Figure 30 , Figure 31 and Figure 32 In some examples, the walking component 60 includes swing arms 40, which are rotatably connected to the body 10. Swing arms 40 are respectively located on the left and right sides of the head 10a of the body 10. The swing arms 40 can be retractable or extendable structures located on the left and right sides of the head 10a of the body 10. Retractability means that the swing arms 40 can rotate relative to the body 10 so that they at least partially attach to the left and right sides of the head 10a of the body 10, thereby reducing the length of the swing arms 40 extending forward from the head 10a of the body 10. Extendability means that the swing arms 40 can rotate relative to the body 10 so that they can at least partially extend forward from the head 10a of the body 10. When the swing arms 40 extend forward from the body 10, they can form an extension section in front of the head 10a of the body 10. By forming this extension section, the contact area between the body 10 and the first or second region can be increased, thereby improving the stability of the body 10 during movement and reducing the possibility of the body 10 tipping over or overturning. During the walking process of the walking component 60, the swing arm 40 can extend towards the front end of the stair-climbing robot 100. The swing arm 40 can be used to attach to obstacles or steps to lift the head of the stair-climbing robot 100, so that the head of the stair-climbing robot 100 can attach to or cross obstacles or steps. After the swing arm 40 lifts the head of the stair-climbing robot 100, the sensor module on the stair-climbing robot 100 can also be lifted synchronously, thereby increasing the field of view of the sensors of the stair-climbing robot 100 and reducing the problem of limited field of view of the stair-climbing robot 100 due to obstruction by steps or obstacles.

[0200] In some examples, unlike the previous example, swing arms 40 are provided on the left and right sides of the tail 10b of the body 10. When the swing arms 40 extend behind the tail 10b of the body 10, they can form an extension section behind the tail 10b. By forming an extension section, the contact area between the body 10 and the first or second region can be increased, thereby improving the stability of the body 10 during movement and reducing the possibility of the body 10 tipping over or overturning. The swing arms 40 provided at the tail 10b of the body 10 can be used to lift the tail 10b of the stair-climbing robot 100 to assist in going up and down stairs. By raising the pitch angle of the tail 10b, the sensors at the tail of the stair-climbing robot 100 can have a wider field of view, reducing the problem of limited field of view caused by steps or obstacles.

[0201] In some examples, the walking component 60 includes swing arms 40, which are rotatably connected to the body 10. Swing arms 40 are respectively provided on the left and right sides of the head 10a of the body 10; swing arms 40 are also rotatably connected to the body 10, and swing arms 40 are respectively provided on the left and right sides of the tail 10b of the body 10. In this example, by providing swing arms 40 on the left and right sides of the head 10a and the tail 10b of the body 10, extension sections can be formed at the head 10a and tail 10b of the body 10 when needed, so as to further improve the stability of the body 10 during movement.

[0202] In this example, the swing arms 40 located at the head 10a of the body 10 can be a set, and the swing arms 40 located at the tail 10b of the body 10 can also be a set. In this example, the swing arms 40 of the stair-climbing robot 100 can be driven by power components 41 such as motors. The number of power components 41 can correspond one-to-one with the number of sets of swing arms 40, or it can correspond one-to-one with the number of individual swing arms 40. For example, if the stair-climbing robot 100 includes two sets of swing arms 40, and each set of swing arms 40 includes two swing arms 40, the stair-climbing robot 100 can include two power components 41. One power component 41 controls one set of swing arms 40 located at the head 10a, and the other power component 41 controls one set of swing arms 40 located at the tail 10b. Alternatively, it can include four power components 41, each power component 41 controlling one swing arm 40. In this example, the power component 41 can be a motor, a cylinder assembly, or other structure capable of causing the swing arms 40 to rotate relative to the body 210. The power unit 41 is installed on the walking assembly 60 so that the power unit 41 can be integrated into the hollow area of ​​the walking assembly 60 to improve the space utilization of the walking assembly 60.

[0203] It is worth mentioning that the deployment and retraction of the swing arms 40 can be performed simultaneously or separately. For example, the swing arms 40 can be deployed to the same angle simultaneously, or to different angles simultaneously. Alternatively, only the swing arm 40 located at the head 10a can be deployed to a certain angle, while the swing arm 40 located at the tail 10b remains folded. Or, only the rear swing arm 40 can be deployed to a certain angle, while the swing arm 40 located at the head 10a remains folded. The retraction is similar and will not be listed in detail. In addition, the deployment angle of the swing arms 40 can be acute, right, obtuse, straight, angled, or full angle, and the specific angle is determined according to the actual scenario.

[0204] In some examples, the swing arm 40 can be mounted on the outside of the walking assembly 60, that is, the walking assembly 60 is located between the swing arm 10 and the body. This facilitates the installation and fixation of the swing arm 40. On the one hand, the power component 41 used to drive the swing arm 40 can also be integrated into the empty area within the walking assembly 60 to reduce the size of the stair-climbing robot in the left and right directions. On the other hand, when the swing arm 40 switches between the folded state and the open state, the swing arm 40 and the body will not interfere with each other.

[0205] In some examples, the swing arm 40 may be positioned between the body and the walking assembly 60.

[0206] In some examples, the stair-climbing robot 100 has a folded state and an open state. When the stair-climbing robot 100 is in the folded state, the swing arm 40, which is rotatably connected to the head 10a of the body 10, faces the tail 10b of the body 10, and the swing arm 40, which is rotatably connected to the tail 10b of the body 10, faces the head 10a of the body 10. When the stair-climbing robot 100 is in the open state, the swing arm 40 can be used to extend the contact area between the stair-climbing robot 100 and the first and second areas, improving the stability of the body 10. When the stair-climbing robot 100 is in the folded state, it facilitates the storage of the stair-climbing robot 100. When the stair-climbing robot 100 needs to dock at the docking station 2100, it can also reduce the mutual interference between the swing arm 40 and the docking station 2100.

[0207] When the stair-climbing robot 100 is in a folded state, the swing arm 40 installed at the head 10a of the body 10 rotates toward the tail 10b of the body 10 so that at least part of the swing arm 40 installed at the head 10a of the body 10 does not protrude outward from the outside of the head 10a of the body 10; the swing arm 40 installed at the tail 10b of the body 10 rotates toward the head 10a of the body 10 so that at least part of the swing arm 40 installed at the tail 10b of the body 10 does not protrude outward from the outside of the tail 10b of the body 10.

[0208] In some examples, swing arms 40 are provided on the left and right sides of the head 10a of the body 10, and swing arms 40 are provided on the left and right sides of the tail 10b of the body 10. When the stair-climbing robot 100 is in a folded state, the two swing arms 40 on the left side of the body 10 overlap at least partially in the left-right direction, and the two swing arms 40 on the right side of the body 10 overlap at least partially in the left-right direction. In this example, when the stair-climbing robot 100 is in a folded state, the swing arms 40 on the head 10a and the swing arms 40 on the tail 10b of the body 10 overlap in the left-right direction. This facilitates extending the length of the swing arms 40 and reduces the space required for storage. In some examples, the stair-climbing robot 100 is in a folded state when docked at the docking station 2100 to reduce mutual interference between the swing arms 40 and the docking body 2110.

[0209] In some examples, the head 10a of the body 10 is provided with swing arms 40 on the left and right sides respectively, and the tail 10b of the body 10 is provided with swing arms 40 on the left and right sides respectively. When the stair climbing robot 100 is in a folded state, the two swing arms 40 on the left side of the body 10 do not overlap in the left and right directions, and the two swing arms 40 on the right side of the body 10 do not overlap in the left and right directions.

[0210] Please see Figure 34 In some examples, the walking component 60 includes a track 61 and a second drive module 62. The second drive module 62 is connected to the body 10 and is drively connected to the track 61. The second drive module 62 drives the track 61 to move, thereby enabling the body 10 to walk in the target area. The second drive module 62 is connected to the body 10 and drives the track 61 to move relative to each other, so that the body 10 can move by means of the track 61. In this example, by using the track 61 for autonomous movement, the stair-climbing robot 100 can walk between the first and second areas. Utilizing the high friction of the track 61, the walking difficulty caused by the height difference or obstacles between the first and second areas is overcome. In other embodiments, the walking component can also be in the form of wheels, legs, etc.

[0211] In some examples, the body 10 includes a tray 15, with a receiving space 11 located above the tray 15. The tray 15 is used to support the cleaning robot 200. In this example, the tray 15 can be one or more layers of plates mounted on the body 10. The tray 15 supports the cleaning robot 200, keeping it in a preset position within the receiving space 11. In some examples, the tray 15 may be provided with an anti-slip structure to limit the movement of the cleaning robot 200 within the receiving space 11. In some examples, the tray 15 is detachably connected to the body 10, allowing it to be replaced as needed to accommodate cleaning robots 200 with different chassis structures. In some examples, the pallet 15 may be provided with a structure for positioning the cleaning robot 200. This positioning structure may be retractable. During the process of the cleaning robot 200 entering the accommodating space 11, the positioning structure is in a retracted state. When the cleaning robot 200 reaches a preset position within the accommodating space 11, the positioning structure can be inserted into a preset position on the chassis of the cleaning robot 200, so that the cleaning robot 200 remains in the preset position within the accommodating space 11, reducing the shaking of the cleaning robot 200. This helps to maintain a fixed center of gravity position for the stair-climbing robot 100, reducing problems such as tipping or route deviation when the stair-climbing robot 100 walks in target areas with height differences. In some examples, the body 10 has a sidewall 16, which surrounds the outer periphery of the pallet 15 and protrudes above the pallet 15. The sidewall 16 and the pallet 15 enclose the accommodating space 11.

[0212] In some examples, the body 10 also includes a first wall 13 and two side walls 16 disposed above the tray 15. The first wall 13 is disposed opposite to the opening 12, and the two side walls 16 are respectively connected to both ends of the first wall 13. The tray 15, the first wall 13, and the two side walls 16 enclose a receiving space 11. In this example, the first wall 13 and the two side walls 16 are at least partially disposed above the tray 15, enclosing at least a partially closed area above the tray 15. This allows the tray 15, the first wall 13, and the two side walls 16 to enclose the receiving space 11, thereby limiting the position of the cleaning robot 200 and reducing the possibility of the cleaning robot 200 sliding out of the receiving space 11. In some examples, the first wall 13 and the two side walls 16 can respectively abut against the outer wall surface of the cleaning robot 200 to reduce the shaking of the cleaning robot 200 relative to the body 10. In some examples, at least one of the first wall 13 and the two side walls 16 is provided with a buffer structure for cushioning the cleaning robot 200. The buffer structure can be an airbag, an elastomer or other structure with elastic deformation capability. The buffer structure abuts against the surface of the cleaning robot 200 to further reduce the shaking of the cleaning robot 200 relative to the body 10.

[0213] In some examples, at least one of the tray 15 and the side wall 16 is provided with a guide wheel 14, which at least partially extends into the receiving space 11. The guide wheel 14 is used to guide the cleaning robot 200 as it enters and exits the receiving space 11. When the cleaning robot 200 moves, the guide wheel 14 can roll into contact with the outer surface of the cleaning robot 200. On the one hand, the guide wheel 14 guides the direction of travel of the cleaning robot 200, thereby improving the directionality of the cleaning robot 200's movement. On the other hand, it can reduce the friction between the cleaning robot 200 and the inner wall surface of the body 210, thereby reducing surface wear of the cleaning robot 200.

[0214] In some examples, the body 10 has a first wall 13 and two side walls 16. The first wall 13 is positioned opposite the opening 12, and the two side walls 16 are connected to both ends of the first wall 13. The first wall 13 and the two side walls 16 enclose a receiving space 11. A lifting mechanism is provided on the two side walls 16 or the first wall 13. The lifting mechanism is used to lift the cleaning robot 200 from its bottom, so that the cleaning robot 200 is suspended on the ground. In this example, the lifting mechanism can be a plate that can move along the height direction of the body 10. In some examples, the lifting mechanism can be connected to the cleaning robot 200 by clamping, so that the cleaning robot 200 can move into the receiving space 11 in a preset direction. In some examples, a suction cup can be used to adhere to the surface of the cleaning robot 200, and the movement of the suction cup can move the cleaning robot 200 to a preset position within the receiving space 11.

[0215] Based on the aforementioned stair-climbing robot 100, this application also proposes an example of a cleaning system 1000. The cleaning system 1000 includes a cleaning robot 200 and the stair-climbing robot 100 as in any of the above examples. The cleaning robot 200 includes a body 210, a displacement mechanism 220, and a cleaning component 230. The displacement mechanism 220 is connected to the body 210 to drive the body 210 to walk within a target area. The cleaning component 230 is connected to the body 210 to perform cleaning work on the target area. The displacement mechanism 220 can drive the cleaning robot 200 from the opening 12 into the accommodating space 11 when the door 50 is in the open position. The walking component 60 is configured to drive the stair-climbing robot 100 and the cleaning robot 200 located in the accommodating space 11 from a first area of ​​the target area to a second area of ​​the target area. There is a height difference or obstacle between the first area and the second area.

[0216] The body 210 of the cleaning robot 200 is the main structure of the cleaning robot 200. The displacement mechanism 220 is used to move the body 210 within the target area. The cleaning component 230 is used to clean the target area. In this example, the displacement mechanism 220 can be a roller or a track 61. The cleaning component 230 can be a cleaning brush for sweeping or a roller or cloth for scrubbing the floor.

[0217] The displacement mechanism 220 can drive the cleaning robot 200 from the opening 12 into the accommodating space 11 when the door 50 is in the open position. After the cleaning robot 200 reaches the preset position in the accommodating space 11, the first drive module 53 of the stair climbing robot 100 can drive the door 50 from the open position to the closed position.

[0218] The walking component 60 of the stair-climbing robot 100 enables the stair-climbing robot 100 and the cleaning robot 200 to move from a first area of ​​the target area to a second area of ​​the target area, where there may be a height difference between the first and second areas. In this example, the target areas can be different floors. In some examples, the first and second areas can be two areas separated by an obstacle, such as a threshold or other object higher than the ground. The stair-climbing robot 100 is used to help the cleaning robot 200 overcome the height difference or obstacle between the first and second areas, so that the cleaning robot 200 can be used to clean different areas.

[0219] In some examples, the hatch 50 is located at the tail 10b of the body 10, allowing the cleaning robot 200 to enter the accommodating space 11 from the tail 10b towards the head 10a. In some examples, the cleaning robot 200 is configured to enter the accommodating space 11 by reversing. In this example, after the robot reverses into the accommodating space 11, when the cleaning robot 200 needs to exit the accommodating space 11, it can move forward through the opening 12. In some examples, the tail 10b of the cleaning robot 200 is provided with a second contact point 240 as described in any of the above examples. In some examples, the hatch 50 is provided with a viewing window 51 as described in any of the above examples, which corresponds to the position of the sensor module on the head 10a of the cleaning robot 200. In some examples, the cleaning robot 200 has a front-view module 254 as described in any of the previous examples. In this example, by having the cleaning robot 200 enter the accommodating space 11 in a backward manner, the front-view module 254 can be staggered from the positioning mechanism 20, reducing damage to the front-view module 254 caused by the positioning mechanism 20. In some examples, the stair-climbing robot 100 includes a hatch 50 as described in any of the previous examples. The hatch 50 is provided with a viewing window 51. When the cleaning robot 200 enters the accommodating space 11 in a backward manner, the front-view module 254 of the cleaning robot 200 corresponds to the position of the viewing window 51. When it is necessary to move the cleaning robot 200 out of the accommodating space 11, the hatch 50 switches to the open position, and the front-view module 254 can obtain the external environment of the stair-climbing robot 100 nearby, so as to facilitate the planning of the movement route of the cleaning robot 200.

[0220] In some examples, the hatch 50 is located at the head 10a of the body 10, allowing the cleaning robot 200 to enter the accommodating space 11 from the head 10a towards the tail 10b. In some examples, the cleaning robot 200 is configured to enter the accommodating space 11 by moving forward. In some examples, the hatch 50 is provided with a viewing window 51 as described in any of the above examples, which corresponds to the position of the sensor module on the head 10a of the cleaning robot 200. In some examples, the cleaning robot 200 has a forward-looking module 254 as described in any of the above examples. In this example, by allowing the cleaning robot 200 to enter the accommodating space 11 by moving forward, the forward-looking module 254 can be offset from the positioning mechanism 20, reducing damage to the forward-looking module 254 caused by the positioning mechanism 20.

[0221] Please see Figure 3 and Figures 35 to 47In some examples, the cleaning system 1000 also includes a base station 300 and a docking station 2100, the base station 300 being used to dock with the cleaning robot 200 to at least charge the cleaning robot 200, and the docking station 2100 being used to dock with the stair-climbing robot 100 to at least charge the stair-climbing robot 100.

[0222] The base station 300 can be used to store or dock the cleaning robot 200, and can also be used to clean the cleaning robot 200. The base station 300 can be electrically connected to the cleaning robot 200 so that the base station 300 can charge the cleaning robot 200.

[0223] The docking station 2100 is used to dock the stair-climbing robot 100 so that the stair-climbing robot 100 can be charged through the docking station 2100.

[0224] In some examples, the cleaning robot 200 has a clean water tank and a water inlet 251 communicating with the clean water tank. The positioning recess 250 includes the water inlet 251. The clean water tank is used to store the cleaning fluid required by the cleaning robot 200 when cleaning the target area. The clean water tank can also be used to store the cleaning fluid used by the cleaning robot 200 for self-cleaning. The water inlet 251 communicates with the clean water tank to facilitate the injection of cleaning fluid into the clean water tank. In this example, when the cleaning robot 200 is located within the accommodating space 11, the water inlet 251 can be used as the positioning recess 250 to reduce the number of openings on the surface of the cleaning robot 200.

[0225] In some examples, the cleaning robot 200 has a wastewater tank and an outlet 252 connecting to the wastewater tank, and a positioning recess 250 includes the outlet 252; the wastewater tank is used to contain wastewater generated by the cleaning robot 200 during operation or self-cleaning. The outlet 252 of the wastewater tank can be used to connect to the external environment of the cleaning robot 200 to facilitate drainage. In this example, when the cleaning robot 200 is located within the accommodating space 11, the outlet 252 can be used as a positioning recess 250 to reduce the number of openings on the surface of the cleaning robot 200.

[0226] In some examples, the cleaning robot 200 has a docking interface 253, and the positioning recess 250 includes the docking interface 253. The docking interface 253 can be used to dock with the docking post of the base station 300. When the cleaning robot 200 enters the accommodating space 11, the docking interface 253 can be used as the positioning recess 250 of the cleaning robot 200 to reduce the number of openings on the surface of the cleaning robot 200.

[0227] In some examples, the positioning recess 250 is located at the tail 10b of the cleaning robot 200, allowing the cleaning robot 200 to enter the accommodating space 11 by reversing. Since the head 10a of the cleaning robot 200 is usually equipped with a front-view module 254, in this example, by placing the positioning recess 250 at the tail 10b of the cleaning robot 200, the front-view module 254 of the cleaning robot 200 can be avoided, improving the scientific distribution of functional components on the cleaning robot 200. On the other hand, the holes such as the docking interface 253, water outlet 252, and water inlet 251 at the tail 10b of the cleaning robot 200 can be used as the positioning recess 250, thereby making full use of the existing holes on the cleaning robot 200 without the need for additional openings on the surface of the cleaning robot 200.

[0228] Please see Figure 3 and Figures 35 to 47 This application also proposes an example of a stair-climbing system 2000, which includes a docking station 2100 and a stair-climbing robot 100 as in any of the above examples, wherein the docking station 2100 is used to dock the stair-climbing robot 100.

[0229] The docking station 2100 can be used to store the stair-climbing robot 100, or it can be used to charge the stair-climbing robot 100. When the stair-climbing robot 100 is docked at the docking station 2100, it can be electrically connected to the docking station 2100 so that the docking station 2100 can be used to charge the stair-climbing robot 100.

[0230] In some examples, the docking station 2100 includes a docking body 2110, which can be used for the stair-climbing robot 100 to dock. The stair-climbing robot 100 is capable of autonomously moving from a first area to a second area, where there is a height difference or obstacle between the first and second areas. The docking body 2110 includes a front portion 2116 and a rear portion 2115, the direction from the front portion 2116 to the rear portion 2115 being consistent with the direction in which the stair-climbing robot 100 enters the docking body 2110. The docking body 2110 includes a... Regarding the docking surface 2118 facing the stair-climbing robot 100, the docking surface 2118 is configured such that, when the docking body 2110 is in a docking posture, the end of the docking surface 2118 near the rear 2115 is higher than the end of the docking surface 2118 near the front 2116, and the docking angle between the docking surface 2118 and the ground is greater than 0° and less than or equal to 90°. In the docking posture, the stair-climbing robot 100 can autonomously move onto the docking body 2110. The obstacle mentioned here can be a step, a threshold, etc.

[0231] The docking station 2100 can be used for the stair-climbing robot 100 to dock. When the stair-climbing robot 100 docks at the docking station 2100, it can be placed inside the docking station 2100, or its charging port can be connected to the docking station 2100 to charge it. In some examples, the docking station 2100 can carry its own energy storage system to charge the stair-climbing robot 100; in some examples, the docking station 2100 can be connected to mains power to charge the stair-climbing robot 100. In the examples of this application, charging the stair-climbing robot 100 by the docking station 2100 can include wired charging, that is, the stair-climbing robot 100 and the docking station 2100 are electrically connected by a wired connection. In this application example, the docking station 2100 for charging the stair-climbing robot 100 may also include wireless charging, meaning that when the stair-climbing robot 100 docks at the docking station 2100, the docking station 2100 charges the stair-climbing robot 100 wirelessly. In some examples, the stair-climbing robot 100 can also charge the docking station 2100. In some examples, the docking station 2100 can also be used to dock other electrical devices; since the stair-climbing robot can move between the first and second areas, it can charge at any location in either the first or second area. When other electrical devices need charging and the docking station 2100's power is insufficient, the stair-climbing robot 100 can charge the docking station 2100, and the docking station 2100 can also charge other electrical devices.

[0232] The docking body 2110 includes a front part 2116 and a rear part 2115 arranged opposite to each other. The direction from the front part 2116 to the rear part 2115 is the direction in which the stair-climbing robot 100 enters the docking body 2110. The stair-climbing robot 100 can move autonomously from the front part 2116 to the rear part 2115 of the docking body 2110 so that the stair-climbing robot 100 can dock at a preset position on the docking body 2110.

[0233] The docking body 2110 may include a docking surface 2118. When the stair-climbing robot 100 docks on the docking body 2110, the docking surface 2118 faces the stair-climbing robot 100. The docking surface 2118 may be the entire surface of the docking body 2110 facing the stair-climbing robot 100, or it may be a portion of the surface facing the stair-climbing robot 100. In some examples, the docking body 2110 is in a docking posture, and the docking surface 2118 may be in contact with the stair-climbing robot 100 or spaced apart from it. In some examples, the docking body 2110 may also be provided with charging contacts 2111 for docking with the stair-climbing robot 100, so as to charge the stair-climbing robot 100 through the charging contacts 2111. In some examples, the docking body 2110 may also be provided with elastic limiting members for limiting the movement of the stair-climbing robot 100, so that the stair-climbing robot 100 can be kept in a preset position on the docking body 2110, thereby improving the stability of the stair-climbing robot 100 on the docking surface 2118. In some examples, the docking surface 2118 may also be provided with guide members, such as guide wheels 14, for guiding the movement of the stair-climbing robot 100. The guide members limit the movement trajectory of the stair-climbing robot 100, so that the stair-climbing robot 100 can move to a preset position on the docking surface 2118 along the preset trajectory. In some examples, the docking surface 2118 may be provided with anti-slip members. On the one hand, the anti-slip members increase the friction when the stair-climbing robot 100 walks on the docking surface 2118. On the other hand, the anti-slip members reduce the possibility of the stair-climbing robot 100 shifting off the docking surface 2118. The anti-slip members may be ribs protruding from the docking surface 2118, plastic materials with good anti-slip properties, or other materials. In some examples, the docking surface 2118 can be a surface on the docking body 2110 that is inclined relative to the ground. In other examples, the docking surface 2118 can also be a surface formed at an angle to the ground by the movement of the docking body 2110 relative to the ground. In the examples of this application, the ground can be a horizontal plane or a working surface at the location of the docking station 2100. In the examples of this application, the angle between the docking surface 2118 and the ground is a docking angle.

[0234] When the docking body 2110 is in a docking posture, and the stair climbing robot 100 is docked on the docking body 2110, the stair climbing robot 100 may have a bottom surface that is set opposite to the docking surface 2118, wherein the surface area of ​​the docking surface 2118 may be greater than, equal to or less than the area of ​​the bottom surface of the stair climbing robot 100.

[0235] When the docking body 2110 is in a docking posture, the angle between the docking surface 2118 and the ground is greater than 0° and does not exceed 90°. This means that when the docking body 2110 is in a docking posture, the docking surface 2118 is inclined upward relative to the ground, or the docking surface 2118 is perpendicular to the ground. In this example, the angle between the docking surface 2118 and the ground can be 10°, 30°, 45°, 60°, 75°, 90°, or any other value within the above range.

[0236] When the docking body 2110 is in a docking posture, the stair-climbing robot 100 can move autonomously onto the docking body 2110. This means that the stair-climbing robot 100 can move autonomously relative to the docking body 2110 and automatically move to a preset position on the docking body 2110.

[0237] In this example, by employing a docking surface 2118 set at an angle to the ground in a docking posture, the docking body 2110 can more easily adapt to the stair-climbing robot 100 when it is in a docking posture. In this example, the docking station 2100 can serve as a storage device for the stair-climbing robot 100, allowing it to be stored away after the robot has finished its work. In this example, the docking station 2100 can also serve as a support device for the stair-climbing robot 100. Because the docking surface 2118 is set at an angle to the ground, the stair-climbing robot 100 can dock at an angle to the ground on the docking surface 2118. Compared to placing the stair-climbing robot 100 directly on the ground, the space occupied by the stair-climbing robot 100 when docked on the docking station 2100 is smaller, thus saving considerable space.

[0238] Please refer to the following: Figures 38 to 45 In some examples, the docking station 2100 also includes a support module 2120 connected to the docking body 2110, and the support module 2120 is configured to support the docking body 2110 from below in the docking posture.

[0239] The support module 2120 is used to support the docking body 2110 when it is in a docking posture, so that the docking surface 2118 of the docking body 2110 is kept at an angle to the ground. In this example, the support module 2120 is connected to the docking body 2110, meaning that the support module 2120 can be fixed to the docking body 2110 so that the support module 2120 is at least partially in contact with the ground. In some examples, the support module 2120 can be integrally set with the docking body 2110.

[0240] In some examples, the docking station 2100 also includes a support module 2120, which is separable from the docking body 2110. The support module 2120 is configured to support the docking body 2110 from below in the docking position. Separability of the support module 2120 from the docking body 2110 means that the support module 2120 can be detached from the docking body 2110 so that both can be placed independently. In this example, the support module 2120 can be independently configured from the docking body 2110. When the docking body 2110 needs to be in the docking position, the support module 2120 is supported below the docking body 2110, so that the rear 2115 of the docking body 2110 is higher than the front 2116, and the docking surface 2118 is angled to the ground. When it is not necessary for the docking body 2110 to be in a docking posture, the support module 2120 can be removed to allow the docking body 2110 to return to its initial state. In the example of this application, the initial state of the docking body 2110 can be the state where the docking surface 2118 is parallel to the ground, or the state where the docking surface 2118 is tilted at a certain angle to the ground.

[0241] In some examples, the support module 2120 can be detachably connected to the docking body 2110. When the docking body 2110 needs to be in a docking posture, the support module 2120 is installed below the docking body 2110, so that the rear 2115 of the docking body 2110 is higher than the front 2116, and the docking surface 2118 is set at an angle to the ground. When the docking body 2110 does not need to be in a docking posture, the support module 2120 can be removed to allow the docking body 2110 to return to its initial state.

[0242] It is worth mentioning that when the parking body 2110 is in the initial state, the parking body 2110 supports multiple placement postures. Specifically, the parking body 2110 can be in a flat posture or an upright posture. In the flat posture, the parking surface 2118 can be parallel to the ground or at a certain angle to the ground. In the upright posture, the parking body 2110 can lean against a wall or furniture, and the parking surface 2118 can be perpendicular to the ground or at an acute angle to the ground.

[0243] In some embodiments, even without the support module 2120, whether the docking body 2110 is in a flat or upright position, it can be configured to support the climbing robot to autonomously climb onto the docking body 2110.

[0244] Please refer to the following: Figures 38 to 47In some examples, the docking station 2100 has a storage state and a use state, and the docking station 2100 can switch between the storage state and the use state. The support module 2120 is configured at least to make the docking body 2110 in a docking posture when the docking station 2100 is in the use state.

[0245] The docking station 2100 has a retracted state and a usable state. In the retracted state, at least a portion of the support module 2120 is housed within the docking body 2110 to reduce the overall volume of the docking station 2100. Alternatively, the support module 2120 itself is in a retracted or folded state to reduce the volume of the support module 2120, thereby reducing the volume of the docking station 2100. Or, the support module 2120 itself is in a retracted or folded state, and at least a portion of its structure is housed within the docking body 2110. In the usable state, the support module 2120 is supported below the docking body 2110, such that the end of the docking surface 2118 near the rear 2115 is higher than the end of the docking surface 2118 near the front 2116, thus ensuring that the docking body 2110 is in a docking posture.

[0246] More specifically, in one embodiment, the docking station 2100 has a combined storage state, that is, after the support module 2120 is combined with the docking body 2110, the overall volume of the docking station 2100 is reduced through the three methods mentioned above. Furthermore, in the combined storage state, the support module 2120 can be connected to the docking body 2110 or can be separated from the docking body 2110.

[0247] In one embodiment, the docking station 2100 may also have a separate storage state, that is, the support module 2120 and the docking body 2110 are stored separately. In this embodiment, at least one of the support module 20 and the docking body 2110 can be folded or retracted.

[0248] In this embodiment, the docking station can reduce its packaging and storage volume by switching between storage and usage states, thereby reducing production and transportation costs, and also reduce the floor space occupied by the docking station when it is in use.

[0249] In some examples, the docking body 2110 has a receiving groove 2114 on the side away from the docking surface 2118. When the docking station 2100 is in the storage state, the receiving groove 2114 accommodates at least part of the structure of the support module 2120.

[0250] The receiving groove 2114 is a recessed groove formed on the side of the docking body 2110 away from the docking surface 2118. Alternatively, a protruding structure can be provided on the side of the docking body 2110 away from the docking surface 2118, and the receiving groove 2114 can be formed by slotting the protruding structure. Alternatively, multiple protruding structures arranged at intervals can be provided, and the receiving groove 2114 can be formed by the gaps between adjacent protruding structures. The shape and size of the receiving groove 2114 can be adapted to the support module 2120 so that when the docking station 2100 is in the retracted state, the support module 2120 can be at least partially housed in the receiving groove 2114. In this example, the volume of the receiving groove 2114 can be greater than the volume of the support module 2120 so that the support module 2120 can be completely contained within the receiving groove 2114; in some examples, the volume of the receiving groove 2114 can be greater than or equal to the volume of the support module 2120 so that the support module 2120 can be partially contained within the receiving groove 2114.

[0251] In one embodiment, the support module 2120 can be movably connected to the docking body 2110. When the docking station 2100 needs to be in a retracted state, the support module 2120 can be moved relative to the docking body 2110 so that the support module 2120 can be at least partially retracted into the receiving slot 2114.

[0252] In one embodiment, the support module 2120 can be detachably connected to the docking body 2110. When the docking station 2100 needs to be in a stored state, the support module 2120 can be detached from the docking body 2110 and then at least partially housed in the receiving slot 2114.

[0253] In one embodiment, the support module 2120 is separable from the docking body 2110, meaning that there is no connection between the support module 2120 and the docking body 2110. When the docking station 2100 needs to be in a stowed state, at least a portion of the individual support module 2120 can be accommodated in the receiving slot 2114.

[0254] In some examples, a first connector 21237 is provided on one of the support module 2120 and the docking body 2110, and a second connector 2119 is provided on the other of the support module 2120 and the docking body 2110. The first connector 21237 and the second connector 2119 are connected to fix the support module 2120 in the receiving groove 2114 when in the retracted state. The first connector 21237 and the second connector 2119 can be connected to each other so that the support module 2120 and the docking body 2110 are kept in a relatively fixed state through the first connector 21237 and the second connector 2119. When the docking station 2100 is in the retracted state, the support module 2120 is at least partially housed in the receiving groove 2114, at which time the first connector 21237 is connected to the second connector 2119, so that the support module 2120 is fixed in the receiving groove 2114. In some examples, one of the first connector 21237 and the second connector 2119 in this example can be a magnet or a material containing magnetic components, and the other can be a magnet or a magnetically attractable material, so that the first connector 21237 and the second connector 2119 can be magnetically connected to each other. In some examples, one of the first connector 21237 and the second connector 2119 in this example can also be a snap-fit, and the other can be a slot. When the support module 2120 is at least partially received in the receiving groove 2114, the snap-fit ​​is engaged in the slot; the snap-fit ​​can be a metal snap-fit, a plastic snap-fit, or other material capable of at least partially elastic deformation. In some examples, one of the first connector 21237 and the second connector 2119 in this example can be a socket, and the other can be a pin. In some examples, one of the first connector 21237 in this example can also be a screw, and the other can be a threaded hole. In some examples, the first connector 21237 and the second connector 2119 can also be hooks, which hook together when the support module 2120 is at least partially received within the receiving groove 2114. In this example, the first connector 21237 can be disposed on the support module 2120, and the second connector 2119 can be disposed on the docking body 2110; or, the first connector 21237 can be disposed on the docking body 2110, and the second connector 2119 can be disposed on the support module 2120.

[0255] In some examples, a fastener 21236 is provided on one of the support module 2120 and the docking body 2110. The fastener 21236 is used to cooperate with the other of the support module 2120 and the docking body 2110 to secure the support module 2120 in the receiving groove 2114 when in the retracted state. The fastener 21236 can be used to secure the support module 2120 when the docking station 2100 is in the retracted state so that the support module 2120 can be at least partially confined within the receiving groove 2114. The fastener 21236 can be disposed on the docking body 2110 or on the support module 2120. In this example, the fastener 21236 is disposed on the support module 2120. The fastener 21236 can be a silicone part with elastic deformation properties. When the support module 2120 is at least partially received in the receiving groove 2114, the fastener 21236 can elastically abut against the inner wall surface of the receiving groove 2114, and the support module 2120 and the docking body 2110 are relatively fixed under the action of friction. In other embodiments, the fastener 21236 can also be an elastic buckle with elastic deformation properties. When the support module 2120 is at least partially received in the receiving groove 2114, the fastener 21236 can elastically abut against the inner wall surface of the receiving groove 2114. Alternatively, the fastener 21236 can also be a magnet, and the docking body 2110 is made of a magnetically attractive material. When the support module 2120 is at least partially housed in the receiving groove 2114, the fastener 21236 attracts the docking body 2110.

[0256] In some embodiments, the docking station 2100 may not have a storage state.

[0257] In some examples, the support module 2120 is movable relative to the docking body 2110, and the support module 2120 is also used to adjust the size of the docking angle. The movable support module 2120 relative to the docking body 2110 means that the support module 2120 can slide, rotate, or a combination of sliding and rotating relative to the docking body 2110 to adjust the relative positional relationship between at least a portion of the support module 2120 and the docking body 2110. In this example, by moving the support module 2120 relative to the docking body 2110, the docking angle between the docking surface 2118 and the ground can be adjusted, thereby adjusting the docking angle between the docking body 2110 and the stair-climbing robot 100. In this example, by using the support module 2120 to adjust the docking angle, the docking body 2110 can be used for docking with stair-climbing robots 100 with different placement angle requirements. Because the docking angle between the docking main body 2110 and the stair-climbing robot 100 can be adjusted, the storage space required for the docking station 2100 and the stair-climbing robot 100 can be adjusted accordingly. When the docking angle is large, the projected volume of the docking station 2100 and the stair-climbing robot 100 on the ground in the vertical direction is relatively smaller; when the docking angle is small, the projected volume of the docking station 2100 and the stair-climbing robot 100 on the ground in the vertical direction is relatively larger. Furthermore, it can accommodate different heights. When the space height that can accommodate the docking station 2100 and the stair-climbing robot 100 is low, a smaller docking angle can be set. When the space height that can accommodate the docking station 2100 and the stair-climbing robot 100 is high, a larger docking angle can be set.

[0258] In some examples, within a range smaller than the maximum docking angle, the support module 2120 is used for stepless or stepped adjustment of the docking angle.

[0259] Stepless adjustment refers to the absence of fixed angle settings during adjustment, allowing for smooth adjustment within any range. When using stepless adjustment, the mating angle can be adjusted to any angle within the maximum range. In this example, the stepless adjustment of the mating angle by the support module 2120 can be achieved through a motor, cylinder, lead screw 532 transmission system, or other systems.

[0260] The stepped adjustment achieves different mating angles through fixed settings, each setting corresponding to a fixed position, with a noticeable change in position when switching settings. When using stepped adjustment, the mating angle has several preset fixed angles, which can be adjusted between these preset fixed angles.

[0261] It's worth noting that, regardless of whether the adjustment is stepless or stepped, the support module 2120 can be configured to support automatic adjustment driven by a power structure, such as a motor, pneumatic rod, or hydraulic rod. The support module 2120 can also be configured to support manual adjustment. This is not a single, definitive configuration.

[0262] In some embodiments, the docking angle can also be set to a fixed angle, meaning that when the docking body 2110 is in the docking posture, only one docking angle is supported. In this embodiment, the support module 2120 can be configured to be movable to support storage or deployment. When the docking station is in use, the support module 2120 is in the deployed state and supported under the docking body 2110, so that the angle between the docking surface and the ground is the docking angle. When the docking station is in the stored state, the support module 2120 is stored by retracting or folding. Of course, the support module 2120 can also be configured as a structure that does not support movement.

[0263] In some examples, the support module 2120 is rotatably configured relative to the docking body 2110 to raise the rear 2115 relative to the front 2116. The support module 2120 may be rotatably connected to the docking body 2110 so that the support module 2120 can rotate relative to the docking body 2110. When the support module 2120 rotates relative to the docking body 2110, the support module 2120 can raise the rear 2115 of the docking body 2110 so that the rear 2115 of the docking body 2110 is higher than the front 2116, thereby making the docking surface 2118 form a docking angle with the ground. In some examples, the support module 2120 can also be rotatably connected to any component on the ground. When the end of the support module 2120 away from the ground rotates relative to and supports the rear portion 2115 of the docking body 2110, the support module 2120 can lift the rear portion 2115 of the docking body 2110 so that the docking surface 2118 forms a mating angle with the ground. In one embodiment, a portion of the structure of the support module 2120 can be rotatably connected to other structures of the support module 2120 to lift the rear portion 2115 of the docking body 2110. In this embodiment, the support module 2120 may or may not be connected to the docking body 2110. In another embodiment, the support module 2120 can also be rotatably connected to the docking body 2110 to lift the rear portion 2115 of the docking body 2110.

[0264] In some examples, the support module 2120 includes a first support member 2121 and a first rotating shaft 21213. The first support member 2121 has a first end 21211 and a second end 21212 disposed opposite to each other. The first end 21211 is rotatably connected to the docking body 2110 through the first rotating shaft 21213. The second end 21212 can move relative to the docking body 2110 to raise the rear part 2115.

[0265] The first rotating shaft 21213 is connected to the first support member 2121, and the first rotating shaft 21213 can be connected to the docking body 2110. The first end 21211 and the second end 21212 of the first support member 2121 can be the two ends of the first support member 2121 along its length. In this example, the first end 21211 is rotatably connected to the docking body 2110 through the first rotating shaft 21213, which means that the first end 21211 can be fixedly connected to the first rotating shaft 21213, and the first rotating shaft 21213 is rotatably connected to the docking body 2110; or, the first end 21211 is rotatably connected to the first rotating shaft 21213, and the first rotating shaft 21213 is fixedly connected to the docking body 2110; or, the first rotating shaft 21213 can rotate relative to the docking body 2110, and the first end 21211 can rotate relative to the first rotating shaft 21213.

[0266] The second end 21212 of the first support member 2121 can move relative to the docking body 2110, so that the support module 2120 is set at an angle to the ground. As the second end 21212 of the first support member 2121 moves, the rear part 2115 of the docking body 2110 can be raised or lowered synchronously, thereby adjusting the docking angle of the docking surface 2118.

[0267] In one embodiment, the first end 21211 is closer to the front of the docking body 2110 than to the rear of the docking body 2110. In another embodiment, the first end 21211 is closer to the rear of the docking body 2110 than to the front of the docking body 2110.

[0268] In one embodiment, the first support member 2121 may have surface contact, line contact, or point contact with the ground.

[0269] In one embodiment, with Figure 39 The embodiment shown is illustrated below. The first support member 2121 can be... Figure 39 The component with the designation 2121 can also be Figure 39 The component with the designation number 2123.

[0270] Please see Figure 41 In some examples, the first support 2121 is used to support the object on the ground.

[0271] Please see Figure 42In some examples, the support module 2120 further includes a second support member 2123 and a second pivot 2117. The second support member 2123 includes a third end 21231 and a fourth end 21232 disposed opposite to each other. The third end 21231 is rotatably connected to the docking body 2110 via the second pivot 2117, and the fourth end 21232 cooperates with the first support member 2121. In other embodiments, the fourth end 21233 may also be detached from the first support member 2121 and directly supported on the ground.

[0272] The first support member 2121 is used to support the ground, meaning that the first support member 2121 can be used to conform to the ground to form a contact member between the support module 2120 and the ground. In this example, the first support member 2121 can make point contact, line contact, or surface contact with the ground.

[0273] The second rotating shaft 2117 is connected to the second support member 2123, and the second rotating shaft 2117 can be connected to the docking body 2110. The third end 21231 and the fourth end 21232 of the second support member 2123 can be two ends of the second support member 2123 along its length. In this example, the third end 21231 is rotatably connected to the docking body 2110 through the second rotating shaft 2117, which means that the third end 21231 can be fixedly connected to the second rotating shaft 2117, and the second rotating shaft 2117 is rotatably connected to the docking body 2110; or, the third end 21231 is rotatably connected to the second rotating shaft 2117, and the second rotating shaft 2117 is fixedly connected to the docking body 2110; or, the second rotating shaft 2117 can rotate relative to the docking body 2110, and the third end 21231 can rotate relative to the second rotating shaft 2117.

[0274] The fourth end 21232 of the second support member 2123 cooperates with the first support member 2121, meaning that the fourth end 21232 of the second support member 2123 can be slidably connected to or not connected to the second end 21212 of the first support member 2121, so that the second support member 2123 is supported between the docking body 2110 and the first support member 2121. When the first support member 2121 moves relative to the docking body 2110, the second support member 2123 can also move relative to the docking body 2110. When the docking surface 2118 reaches the preset docking angle, the second support member 2123 and the first support member 2121 are fixed, so that the second support member 2123 and the first support member 2121 cooperate to support the docking body 2110, so that the docking surface 2118 can be maintained at the current docking angle position.

[0275] It is easy to understand that in the embodiment with adjustable docking angle, the position of the fourth end 21233 and the first support member 2121 are different under different docking angles.

[0276] In this example, when the docking surface 2118 reaches the preset docking angle, the second end 21212 of the first support member 2121 and the fourth end 21232 of the second support member 2123 can be positioned by a positioning element to keep the first support member 2121 and the second support member 2123 in their current positions. In some examples, the positioning element can be a mechanical positioning element, for example, a combination of a snap-fit ​​and a slot, or a combination of a pin and a slot, or a combination of other positioning structures such as a hook.

[0277] In some examples, the first support member 2121 is provided with a first positioning part 21215, which is used to position the fourth end 21232; the first positioning part 21215 is a first positioning groove 21216 provided on the first support member 2121, and the first positioning groove 21216 is recessed in a direction away from the resting surface 2118.

[0278] The first positioning part 21215 is used to cooperate with the fourth end 21232 of the second support member 2123. When the fourth end 21232 of the second support member 2123 is located in the first positioning part 21215, the first positioning part 21215 can limit the fourth end 21232 so that the first support member 2121 and the second support member 2123 cannot move relative to each other. The first positioning part 21215 is a first positioning groove 21216 provided on the first support member 2121. The first positioning groove 21216 can be a recessed groove or a through groove formed on the first support member 2121. The first positioning groove 21216 is recessed in a direction away from the resting surface 2118 so that when the fourth end 21232 is inserted into the first positioning groove 21216, the fourth end 21232 cannot continue to move relative to the first support member 2121.

[0279] In some examples, the first support member 2121 is provided with a first positioning part 21215, which is used to position the fourth end 21232. The first positioning part 21215 is a first positioning member provided on the first support member 2121, which extends towards the resting surface 2118. This example differs from the previous example in that the first positioning member can be a protrusion structure protruding from the surface of the first support member 2121, and a groove can be provided on the fourth end 21232. When the fourth end 21232 and the first positioning member are interlocked, the first support member 2121 and the second support member 2123 are locked together. In some examples, there can be multiple first positioning members, and a groove for accommodating the fourth end 21232 can be formed between adjacent first positioning members to limit the fourth end 21232. Alternatively, the first positioning part 21215 can be located behind the fourth end 21233 to limit the fourth end 21233.

[0280] In some examples, multiple first positioning parts 21215 are provided, and these multiple first positioning parts 21215 are distributed at intervals on the first support member 2121 along the direction from the first end 21211 to the second end 21212. In this example, by providing multiple first positioning parts 21215, multiple positioning points can be formed by the multiple first positioning parts 21215. When the fourth end 21232 cooperates with different first positioning parts 21215, the relative angle between the first support member 2121 and the second support member 2123 will also change. Therefore, the docking angle of the docking surface 2118 can be adjusted by adjusting the first positioning parts 21215 that cooperate with the fourth end 21232. In this example, the multiple first positioning parts 21215 can be distributed at equal intervals on the first support member 2121, or they can be distributed at unequal intervals.

[0281] By setting the first positioning part 21215, the relative positions of the first support member 2121 and the second support member 2123 can be fixed, making the docking body 2110 more stable when it is in the docking posture. In this way, when the climbing robot moves onto the docking body 2110, the docking body 2110 is less likely to be displaced.

[0282] In some examples, the first support member 2121 is provided with a groove 21217, which extends from the first end 21211 to the second end 21212, and the fourth end 21232 is slidably engaged with the groove 21217. The groove 21217 can be set along the length of the first support member 2121, and the fourth end 21232 of the second support member 2123 is slidably engaged with the groove 21217 so that the fourth end 21232 of the second support member 2123 can slide along the groove 21217. When the fourth end 21232 slides to different positions of the groove 21217, the angle between the second support member 2123 and the ground will also change synchronously, thereby adjusting the stopping angle of the stopping surface 2118. In some examples, the first support member 2121 is provided with a first positioning part 21215 in any of the above examples. The first positioning part 21215 can be located in the slide groove 21217. When the fourth end 21232 moves to the preset position in the slide groove 21217 and cooperates with the corresponding first positioning part 21215, the first support member 2121 and the second support member 2123 lock each other.

[0283] In some examples, the groove 21217 is also configured to accommodate at least a portion of the structure of the second support member 2123. In this example, the groove 21217 can be used to form a space accommodating at least a portion of the second support member 2123, so that the second support member 2123 can be at least partially folded into the groove 21217 to reduce the volume of the support module 2120. In this example, when the docking station 2100 is in a docking posture, the second support member 2123 can be moved out of the groove 21217 so that the first support member 2121 and the second support member 2123 can be combined to lift the rear 2115 of the docking body 2110 so that the docking surface 2118 is at the docking angle. When the docking station 2100 does not need to be in a docking posture, the second support member 2123 can be at least partially housed in the groove 21217 of the first support member 2121 to reduce the volume of the support module 2120 and facilitate the storage of the docking station 2100.

[0284] In some examples, the first support member 2121 is used to support the ground. The support module 2120 also includes a second support member 2123 and a second pivot 2117. The second support member 2123 includes a third end 21231 and a fourth end 21232 that are disposed opposite to each other. The fourth end 21232 is rotatably connected to the second end 21212 through the second pivot 2117. The third end 21231 cooperates with the docking body 2110.

[0285] The second pivot 2117 serves as an intermediate connector between the second support member 2123 and the first support member 2121, allowing the first support member 2121 and the second support member 2123 to rotate relative to each other. The third end 21231 and the fourth end 21232 of the second support member 2123 can be two ends of the second support member 2123 along its length. In this example, the fourth end 21232 is rotatably connected to the second end 21212 via the second pivot 2117. This means that the fourth end 21232 can be fixedly connected to the second pivot 2117, and the second pivot 2117 is rotatably connected to the second end 21212; or, the fourth end 21232 is rotatably connected to the second pivot 2117, and the second pivot 2117 is fixedly connected to the second end 21212; or, the second pivot 2117 can rotate relative to the second end 21212, and the second end 21212 can rotate relative to the second pivot 2117.

[0286] The third end 21231 of the second support member 2123 engages with the docking body 2110, meaning that the third end 21231 of the second support member 2123 can be slidably connected to or not connected to the docking body 2110, so that the second support member 2123 and the first support member 2121 form a linkage structure. When the first support member 2121 moves relative to the docking body 2110, the second support member 2123 can rotate relative to the first support member 2121. When the docking surface 2118 reaches the preset docking angle, the second support member 2123 and the first support member 2121 are fixed, so that the second support member 2123 and the first support member 2121 cooperate to support the docking body 2110, so that the docking surface 2118 can be maintained at the current docking angle position.

[0287] In this example, when the docking surface 2118 reaches the preset docking angle, the second end 21212 of the first support member 2121 and the fourth end 21232 of the second support member 2123 can be positioned by a positioning element to keep the first support member 2121 and the second support member 2123 in their current positions. In some examples, the positioning element can be a mechanical positioning element, for example, a combination of a snap-fit ​​and a slot; in some examples, the positioning element can be a combination of a pin and a slot, or a combination of other positioning structures such as a hook.

[0288] In this example, when the third end 21231 is engaged with the docking body 2110 and the docking body 2110 is in a docking posture, the third end 21231 can also be fixed to the docking body 2110 by snap-fit, pin-fit or other means so that the docking station 2100 maintains its current posture.

[0289] In some examples, the docking body 2110 has a second positioning part 21233 on the side opposite to the docking surface 2118. The second positioning part 21233 is used to position the third end 21231. The second positioning part 21233 is a second positioning groove 21234 provided on the docking body 2110. The second positioning groove 21234 is recessed towards the docking surface 2118. The second positioning part 21233 is used to cooperate with the third end 21231 of the second support member 2123. When the third end 21231 of the second support member 2123 is located in the second positioning part 21233, the second positioning part 21233 can limit the third end 21231 so that the first support member 2121 and the second support member 2123 cannot move relative to each other. The second positioning part 21233 is a second positioning groove 21234 provided on the docking body 2110. The second positioning groove 21234 can be a recessed groove or a through groove opened on the docking body 2110. The second positioning groove 21234 is recessed in a direction away from the docking surface 2118, so that when the third end 21231 is inserted into the second positioning groove 21234, the third end 21231 cannot continue to move relative to the docking body 2110.

[0290] In some examples, the docking body 2110 has a second positioning part 21233 on the side opposite to the docking surface 2118, which is used to position the third end 21231. The second positioning part 21233 is a second positioning member provided on the docking body 2110, extending away from the docking surface 2118. This example differs from the previous example in that the second positioning member can be a protrusion structure protruding from the surface of the docking body 2110, and a groove can be provided on the third end 21231. When the third end 21231 and the second positioning member are interlocked, the first support member 2121 and the second support member 2123 are locked together. In some examples, there can be multiple second positioning members, and a groove can be formed between adjacent second positioning members to accommodate the third end 21231, thereby limiting the third end 21231 by the adjacent second positioning members. Alternatively, the second positioning member is used to abut the third end 21232 to restrict the movement of the third end 21232 relative to the docking body 2110.

[0291] In some examples, multiple second positioning parts 21233 are provided, and these multiple second positioning parts 21233 are arranged at intervals on the docking body 2110 along the direction from the front part 2116 to the rear part 2115. In this example, by providing multiple second positioning parts 21233, multiple positioning points can be formed by the multiple second positioning parts 21233. When the third end 21231 cooperates with different second positioning parts 21233, the relative angle between the first support member 2121 and the second support member 2123 will also change. Therefore, the docking angle of the docking surface 2118 can be adjusted by adjusting the second positioning parts 21233 that cooperate with the third end 21231. In this example, the multiple second positioning parts 21233 can be evenly distributed on the docking body 2110, or they can be unequally distributed, and the multiple second positioning parts 21233 are arranged along the direction from the front part 2116 to the rear part 2115.

[0292] It is easy to understand that in some embodiments, for example, in the embodiment of stepless adjustment, the first positioning part or the second positioning part can be eliminated.

[0293] In some examples, the support module 2120 also includes a first drive member 2122, which is connected to the docking body 2110 and is connected to the first rotating shaft 21213. The first drive member 2122 is used to drive the first rotating shaft 21213 to rotate, thereby causing the first support member 2121 to rotate relative to the docking body 2110.

[0294] The first driving component 2122 can serve as the power source for the first support component 2121. The first driving component 2122 is connected to the first rotating shaft 21213 for transmission, and is used to drive the first support component 2121 to rotate relative to the docking body 2110 via the first rotating shaft 21213, thereby adjusting the angle between the first support component 2121 and the docking body 2110. In this example, the first rotating shaft 213 is rotatably connected to the docking body 2110, and the first support component 2121 and the first rotating shaft 213 are either integrally formed or separately formed and connected and fixed to each other. The first driving component 2122 being connected to the docking body 2110 means that the first driving component 2122 can be fixedly or detachably connected to the docking body 2110. The first driving component 2122 can be a motor drive mechanism 531, a cylinder drive mechanism 531, or other drive mechanisms 531.

[0295] In other embodiments, the first drive member 2122 may also be omitted, that is, the first support member 2121 can be manually adjusted by the user.

[0296] In some examples, the support module 2120 further includes a first drive member 2122 and a second drive member 2125. The first drive member 2122 is connected to the docking body 2110 and is driven by a first rotating shaft 21213. The first drive member 2122 is used to drive the first rotating shaft 21213 to rotate, thereby causing the first support member 2121 to rotate relative to the docking body 2110. The second drive member 2125 is driven by a second rotating shaft 2117 and is used to drive the second rotating shaft 2117 to rotate, thereby causing the second support member 2123 to rotate relative to the docking body 2110.

[0297] The first driving member 2122 can serve as the power source for the first support member 2121. The first driving member 2122 is connected to the first rotating shaft 21213 for transmission, and is used to drive the first support member 2121 to rotate relative to the docking body 2110 via the first rotating shaft 21213, thereby adjusting the angle between the first support member 2121 and the docking body 2110. In this example, the first rotating shaft 213 is rotatably connected to the docking body 2110, and the first support member 2121 and the first rotating shaft 213 are either integrally formed or separately formed and connected and fixed to each other. The first driving member 2122 being connected to the docking body 2110 means that the first driving member 2122 can be fixedly or detachably connected to the docking body 2110.

[0298] The second driving member 2125 is connected to the second rotating shaft 2117 for transmission, so that the second driving member 2125 can drive the second rotating shaft 2117 to rotate. In this example, the second rotating shaft 2117 can be separately arranged and connected and fixed to the second support member 2123, or the second rotating shaft 2117 can be integrally arranged with the second support member 2123. The second driving member 2125 is used to drive the second rotating shaft 2117 to rotate, so as to drive the second support member 2123 to rotate relative to the resting body 2110.

[0299] In this example, while the first driving member 2122 drives the first support member 2121 to rotate relative to the docking body 2110, the second driving member 2125 simultaneously drives the second support member 2123 to rotate relative to the docking body 2110, so as to synchronously adjust the angles of the first support member 2121 and the second support member 2123. In some examples, the first support member 2121 is provided with a sliding groove 21217 as described in any of the above examples. When the first driving member 2122 drives the first support member 2121 to rotate relative to the docking body 2110, the second driving member 2125 can drive the second support member 2123 to rotate, and at the same time, the end of the second support member 2123 away from the second driving member 2125 can slide along the sliding groove 21217.

[0300] In other embodiments, the first drive member 2122 and the second drive member 2124 can both be omitted, and the support module allows the user to manually adjust the first support member 2121 and the second support member 2123.

[0301] In addition, it is worth mentioning that the second support member 2123 can be omitted, that is, the docking station only supports the docking body 2110 through the first support member 2121.

[0302] In addition, in some embodiments, both the first positioning part and the second positioning part can be omitted, and angle self-locking can be achieved by applying rotational damping at the first rotating shaft 21213 and the second rotating shaft 2117.

[0303] Of course, in some embodiments, only one of the first driving member 2122 and the second driving member 2124 may be provided. When only the first driving member 2122 is provided, the first supporting member 2121 is moved by the first driving member 2122, and the second supporting member 2123 can be opened by the elastic member or by the first supporting member 2121. When only the second driving member 2124 is provided, the second supporting member 2123 is moved by the second driving member 2124, and the first supporting member 2121 can be opened by the elastic member or by the second supporting member 2123.

[0304] In some embodiments, regardless of whether the second support member 2123 is connected to the first support member 2121 or to the docking body 2110, the first support member 2121 may be provided with a groove 21217 for accommodating at least part of the structure of the second support member 2123, so as to reduce the storage volume of the support module.

[0305] In some examples, in the docking posture, the front portion 2116 is in contact with the ground. The front portion 2116 may have an engagement surface for conforming to the ground, so that the front portion 2116 can serve as the contact point between the docking body 2110 and the ground. This can improve the stability of the docking station 2100 in the docking posture, and also allow the stair-climbing robot 100 to smoothly move from the front portion 2116 along the docking surface 2118 to a preset position. In some embodiments, the front portion 2116 may also have a certain distance between it and the ground.

[0306] Please refer to the following: Figure 48 and Figure 49 In some examples, the docking station 2100 also includes a charging contact 2111, which is connected to the docking body 2110 and used for electrical connection with the stair-climbing robot 100. It is easy to understand that the stair-climbing robot 100 has a pair of contacts that make electrical contact with the charging contact 2111, and includes a battery that is electrically connected to the pair of contacts. The charging contact 2111 can serve as an intermediate connector for electrical connection between the docking station 2100 and the stair-climbing robot 100. In this example, the charging contact 2111 can be electrically connected to the stair-climbing robot 100 via a wired or wireless connection. The charging contact 2111 in this example can be a PIN pin or similar structure for electrical connection, and it can also include a wireless charging coil. In some examples, a battery module can be installed on the docking station 2100, and the charging contact 2111 can be connected to the battery module to charge the stair-climbing robot 100.

[0307] In some examples, the charging contact 2111 is positioned closer to the rear 2115 than the front 2116. When the stair-climbing robot 100 moves from the front 2116 to the rear 2115 to a preset position on the docking surface 2118, the charging contact 2111 can dock with the stair-climbing robot 100. In this example, by positioning the charging contact 2111 closer to the rear 2115 than the front 2116, friction between the structure on the stair-climbing robot 100 and the charging contact 2111 can be reduced during the movement of the stair-climbing robot 100 from the front 2116 to the rear 2115, thus preventing wear or sparking of the charging contact 2111. Of course, in other embodiments, the charging contact 2111 can also be positioned between the front 2116 and the rear 2115, or closer to the front 2116.

[0308] In some examples, the charging contact 2111 protrudes from the docking surface 2118 to ensure a tight connection between the charging contact 2111 and the contact point of the stair-climbing robot. Of course, in other embodiments, the charging contact 2111 may also be designed to be flush with the docking surface 2118.

[0309] In some examples, the charging contact 2111 includes a contact member 21111 and a contact elastic member 21112. The contact member 21111 is slidably connected to the docking body 2110, and the contact elastic member 21112 is connected between the docking body 2110 and the contact member 21111 to reset the contact member 21111. The contact member 21111 is used for electrical connection with the stair-climbing robot 100. The contact elastic member 21112 is connected between the docking body 2110 and the contact member 21111 to form a buffer structure between the docking body 2110 and the contact member 21111. The contact member 21111 is slidably connected to the docking body 2110 so that the contact member 21111 can move relative to the docking body 2110. When the stair-climbing robot 100 docks with the charging contact 2111, the robot 100 can compress the contact component 21111, which in turn compresses the contact elastic element 21112. Through the elastic force of the contact elastic element 21112, the contact component 21111 maintains good contact with the robot 100. When the robot 100 moves off the docking surface 2118, the force exerted by the robot 100 on the contact component 21111 disappears, and the contact component 21111 returns to its initial position under the action of the contact elastic element 21112. In this example, the contact elastic element 21112 can be a spring, damping element, or sheet spring, or any structure capable of elastic deformation under external pressure.

[0310] In some examples, the docking body 2110 has at least two left and right distributed track areas 2112 for docking the walking component 60 of the stair-climbing robot 100. The track area 2112 can be an area with an anti-slip surface set on the docking body 2110. In some examples, the track area 2112 can be integrally set with the docking surface 2118. When the stair-climbing robot 100 moves from the front 2116 to the rear 2115, the walking component 60 of the stair-climbing robot 100 can move along the track area 2112 on the docking body 2110. This facilitates limiting the movement trajectory of the stair-climbing robot 100, and the track area 2112 can limit unnecessary changes in direction and deviations of the stair-climbing robot 100. Furthermore, the formation of a non-smooth surface in the track area 2112 can increase the friction between the stair-climbing robot 100 and the docking body 2110.

[0311] In some examples, the track area 2112 is provided with multiple protruding structures 21121, which are spaced apart along the direction from the front 2116 to the rear 2115. The protruding structures 21121 can be protruding points or protruding rib structures. In this example, the protruding structures 21121 of the track area 2112 can increase the friction between the stair-climbing robot 100 and the docking body 2110, reducing the possibility of the stair-climbing robot 100 slipping on the docking surface 2118. Furthermore, the protruding structures 21121 can provide support for the stair-climbing robot 100's tracks, allowing the robot to climb the docking body 2110 more smoothly and dock stably on it.

[0312] In some examples, the walking component 60 includes a track 61 and a second drive module 62. In some examples, the track area 2112 may be provided with a protruding structure 21121, which cooperates with the track 61 to increase the friction force on the walking component 60 and reduce the possibility of the stair-climbing robot 100 slipping off the docking body 2110.

[0313] In some examples, the docking station 2100 also includes a return-to-station guidance module 2113, which is mounted on the docking body 2110. The return-to-station guidance module 2113 is used to transmit a return-to-station signal to guide the stair-climbing robot 100. When the stair-climbing robot 100 needs to dock at the docking station 2100, the return-to-station guidance module 2113 guides the stair-climbing robot 100 to move along a preset trajectory. In this example, the return-to-station guidance module 2113 transmits a return-to-station signal, and the stair-climbing robot 100 receives the signal and moves towards the docking body 2110. The return-to-station signal in this example can be an infrared signal, a laser signal, or other signals. The return-to-station guidance module 2113 is mounted on the docking body 2110; in this example, it can be positioned at the center along the left and right sides of the docking body 2110.

[0314] In some examples, the return-to-station guidance module 2113 is positioned closer to the front 2116 than the rear 2115. During the movement of the stair-climbing robot 100 towards the docking surface 2118, the return-to-station guidance module 2113 can be used to guide the robot's direction. In this example, by positioning the return-to-station guidance module 2113 closer to the front 2116, when the docking body 2110 is in a docking posture, the rear 2115 of the docking body 2110 is higher than the front 2116, and the front 2116 of the docking body 2116 is relatively closer to the ground. Since the sensor components of the stair-climbing robot 100 are closer to the ground when climbing stairs and walking on the ground, positioning the return-to-station guidance module 2113 closer to the front 2116 in this example makes it easier for the stair-climbing robot 100 to receive the signals sent by the return-to-station guidance module 2113. Of course, in other embodiments, the return station guidance module 2113 may also be located between the front part 2116 and the rear part 2115, or closer to the rear part 2115.

[0315] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural or procedural changes made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A stair-climbing robot, characterized in that, The stair-climbing robot is used to transfer a cleaning robot from a first area of ​​a target area to a second area of ​​the target area, where there is a height difference or obstacle between the first area and the second area. The body has a housing space for accommodating the cleaning robot and an opening communicating with the housing space, the opening being for the cleaning robot to enter and exit the stair-climbing robot; A hatch, which is movably connected to the fuselage, has a closed position for closing the opening and an open position for opening the opening; A first drive module, connected to the hatch, is configured to drive the hatch from the open position to the closed position when the cleaning robot enters the accommodating space, and to drive the hatch from the closed position to the open position before the cleaning robot leaves the accommodating space; and A walking component is connected to the body and is used to drive the body to walk in the target area.

2. The stair-climbing robot as described in claim 1, characterized in that, The first drive module is also configured to drive the hatch from the open position to the closed position after the cleaning robot leaves the containment space.

3. The stair-climbing robot as described in claim 1, characterized in that, The stair-climbing robot also includes a connection component, which comprises: First connector; and The second connecting member is provided on one of the hatch and the fuselage, and the second connecting member is provided on the other, wherein the first connecting member and the second connecting member are used to connect to each other when the hatch is in the closed position; The first drive module is used to drive the first connector to connect or disconnect from the second connector.

4. The stair-climbing robot as described in claim 3, characterized in that, The first drive module includes a drive mechanism and a first transmission module that is drively connected to the drive mechanism. The drive mechanism drives at least one of the first connector and the second connector to move relative to the body through the first transmission module, so that the first connector and the second connector are connected or disconnected.

5. The stair-climbing robot as described in claim 4, characterized in that, The first connector is movably disposed on one of the hatch and the body, the second connector is fixedly or movably disposed on the other of the hatch and the body, and the first transmission module is connected to the first connector.

6. The stair-climbing robot as described in claim 5, characterized in that, The first transmission module includes a cable, one end of which is connected to the drive mechanism, and the other end of which is connected to the first connector. The drive mechanism is used to contract or release the cable to drive the first connector to move relative to the second connector.

7. The stair-climbing robot as described in claim 6, characterized in that, The drive mechanism retracts the cable to move the first connector in a direction that disconnects it from the second connector, and releases the cable to allow the first connector to move in a direction that connects it to the second connector.

8. The stair-climbing robot as described in claim 7, characterized in that, The first connector is movably disposed on the hatch, the second connector is fixedly or movably disposed on the body, and the drive mechanism is mounted on the body. The drive mechanism retracts the cable to drive the first connector to move in a direction disconnected from the second connector, and to drive the hatch to move from the closed position to the open position. The drive mechanism releases the cable to allow the first connector to move in a direction connected to the second connector, and to allow the hatch to move from the open position to the closed position.

9. The stair-climbing robot as described in claim 8, characterized in that, The first drive module further includes a second reset component, which is connected between the hatch and the body, and is used to drive the hatch from the open position to the closed position when the cable is in the released state.

10. The stair-climbing robot as described in claim 5, characterized in that, The connecting assembly further includes a first reset member, which is connected between the first connector and the hatch or the body. The first reset member is used to drive the first connector to reset in the direction of connection with the second connector.

11. The stair-climbing robot as described in claim 5, characterized in that, The first transmission module includes: A lead screw, and the drive mechanism is connected to the lead screw transmission; A lead screw nut, fitted onto the lead screw; and A rotating rod, one end of which is connected to the lead screw nut and the other end of which is connected to the first connecting member; wherein, the driving mechanism is used to drive the lead screw to rotate, so that the lead screw nut drives the rotating rod to rotate, and the rotating rod is used to drive the first connecting member to move relative to the second connecting member.

12. The stair-climbing robot according to any one of claims 4 to 11, characterized in that, The connecting components are provided in multiple sets. The first drive module further includes a connecting rod, which is connected to the first transmission module. All sets of the connecting components are connected to the connecting rod. The drive mechanism drives the connecting rod to move relative to the machine body through the first transmission module, so as to drive at least one of the first connecting member and the second connecting member to move relative to the machine body.

13. The stair-climbing robot as described in any one of claims 3 to 11, characterized in that, When the hatch is in the closed position, the connecting assembly is also configured to be manually disconnected from the second connecting member by the user.

14. The stair-climbing robot according to any one of claims 3 to 11, characterized in that, The first connector and the second connector are snapped together.

15. The stair-climbing robot as described in claim 1 or 2, characterized in that, The first drive module includes a drive mechanism, a first transmission module, and a second reset member. The drive mechanism is drively connected to the first transmission module, the first transmission module is connected to the hatch, and the second reset member is connected between the hatch and the body. The drive mechanism drives the hatch from the closed position to the open position through the first transmission module, and the second reset member drives the hatch from the open position to the closed position; or, the drive mechanism drives the hatch from the open position to the closed position through the first transmission module, and the second reset member drives the hatch from the closed position to the open position.

16. The stair-climbing robot according to any one of claims 1 to 11, characterized in that, The hatch is rotatably connected to the fuselage.

17. The stair-climbing robot as described in claim 16, characterized in that, When the hatch is in the closed position, the free end of the hatch is located above the connecting end of the hatch; when the hatch is in the open position, the cleaning robot enters the accommodating space along the surface of the hatch, wherein the connecting end of the hatch is rotatably connected to the body.

18. The stair-climbing robot as described in claim 17, characterized in that, When the hatch is in the open position, the free end of the hatch is not higher than the connecting end of the hatch.

19. The stair-climbing robot as described in any one of claims 1 to 11, characterized in that, The stair-climbing robot also includes: A positioning detection component, wherein the positioning detection component includes at least one of a closure detection component and an opening detection component; The closure detection component is connected to the body or the hatch, and the closure detection component is used to detect whether the hatch has reached the closed position; the walking component is at least used to drive the body to walk in the target area after the hatch reaches the closed position; The opening detection component is connected to the body or the hatch, and the opening detection component is used to detect whether the hatch has reached the opening position.

20. The stair-climbing robot as described in claim 19, characterized in that, The arrival detection component includes: An elastic contact member, at least a portion of which is movably disposed between a contact position and a disengagement position, the elastic contact member being used to contact the hatch at the contact position; A positioning sensor, in conjunction with the elastic contact, is configured to be triggered at least when the elastic contact is in the contact position.

21. The stair-climbing robot as described in claim 20, characterized in that, The elastic contact element includes: A fixing box is connected to the machine body, and a positioning groove is provided inside the fixing box; The third reset component is disposed within the positioning groove; A floating column is inserted through the positioning groove and connected to the third reset member, which is used to exert a force on the floating column to move it toward the disengaged position.

22. The stair-climbing robot according to any one of claims 1 to 11, characterized in that, The hatch is located at the rear of the fuselage.

23. The stair-climbing robot according to any one of claims 1 to 11, characterized in that, The hatch is equipped with a viewing window that connects to the accommodating space.

24. The stair-climbing robot according to any one of claims 1 to 11, characterized in that, The body includes a tray, and the accommodating space is located above the tray, the tray being used to support the cleaning robot.

25. The stair-climbing robot as described in any one of claims 1 to 11, characterized in that, The walking component includes: Tracks; and The second drive module is connected to the machine body and is connected to the track drive. The second drive module is used to drive the track to move, thereby driving the machine body to walk in the target area.

26. The stair-climbing robot according to any one of claims 1 to 11, characterized in that, The walking assembly includes a swing arm rotatably connected to the body, with the swing arm located on the left and right sides of the head of the body; and / or, The swing arms are respectively located on the left and right sides of the tail of the machine body.

27. The stair-climbing robot as described in claim 26, characterized in that, The walking assembly also includes a power component, with each swing arm being driven to connect to one of the power components, and the power component being used to drive the swing arm to rotate relative to the body.

28. The stair-climbing robot as described in claim 26, characterized in that, The stair-climbing robot has a folded state and an open state. When the stair-climbing robot is in the folded state, the swing arm that is rotatably connected to the head of the robot body faces the tail of the robot body, and the swing arm that is rotatably connected to the tail of the robot body faces the head of the robot body.

29. The stair-climbing robot as described in claim 28, characterized in that, The robot has swing arms on the left and right sides of its head and on the left and right sides of its tail. When the robot is in the folded state, the two swing arms on the left side of the robot overlap at least partially in the left and right direction, and the two swing arms on the right side of the robot overlap at least partially in the left and right direction.

30. The stair-climbing robot as described in claim 1, characterized in that, It also includes an in-situ detection component, which is disposed on the body and used to detect whether the cleaning robot has moved into the accommodating space. The first drive module is configured to drive the hatch from the open position to the closed position when the in-situ detection component detects that the cleaning robot has moved into the accommodating space.

31. The stair-climbing robot as described in claim 30, characterized in that, The presence detection component includes a trigger sensor and a trigger element. The trigger element has a first position and a second position. The trigger element is movable relative to the body between the first position and the second position. When the trigger element is in the first position, the trigger sensor generates a first presence signal. The trigger element is configured to move from the second position to the first position when the cleaning robot moves into the accommodating space, driven by the cleaning robot.

32. The stair-climbing robot as described in claim 31, characterized in that, The in-situ detection component further includes a first contact and a spring element. The first contact is movably disposed on the side of the body opposite to the opening. The trigger element is connected to the first contact. The spring element is connected between the first contact and the body. The first contact is used to contact the second contact of the cleaning robot. The first contact is configured such that when the cleaning robot moves into the accommodating space, it is pushed by the cleaning robot, thereby causing the trigger to move from the second position to the first position. The elastic element is used to reset the first contact so that the first contact causes the trigger to move from the first position to the second position.

33. The stair-climbing robot as described in claim 32, characterized in that, The stair-climbing robot is configured to, when the trigger sensor generates the first presence signal, connect the first contact and the second contact to generate a second presence signal, and the first drive module drives the hatch to move from the open position to the closed position based on the first presence signal and the second presence signal. The stair-climbing robot is also configured to disconnect the first contact and the second contact to disconnect the second presence signal, and, based on the disconnected second presence signal, instruct the cleaning robot to leave the containment space; The first drive module drives the hatch from the open position to the closed position after a delay, based on the disconnected second presence signal and the disconnected first presence signal.

34. A cleaning system, characterized in that, include: A cleaning robot includes a body, a displacement mechanism, and a cleaning component. The displacement mechanism is connected to the body to move the body within a target area, and the cleaning component is connected to the body to perform cleaning work on the target area. as well as The stair-climbing robot as described in any one of claims 1 to 33, wherein the displacement mechanism is capable of driving the cleaning robot from the opening into the accommodating space when the hatch is in the open position; the walking component is configured to drive the stair-climbing robot and the cleaning robot located in the accommodating space from a first area of ​​the target area to a second area of ​​the target area.

35. The cleaning system as claimed in claim 34, characterized in that, The cleaning robot is configured to enter the accommodating space by reversing.

36. The cleaning system as claimed in claim 34, characterized in that, The cleaning system also includes a base station and a docking station. The base station is used to dock with the cleaning robot to at least charge the cleaning robot, and the docking station is used to dock with the stair-climbing robot to at least charge the stair-climbing robot.

37. A stair-climbing system, characterized in that, It includes a docking station and a stair-climbing robot as described in any one of claims 1-33, wherein the docking station is used to dock the stair-climbing robot.

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