Cleaning device, carrier for carrying cleaning equipment and cleaning system

Abstract

The present disclosure relates to a cleaning device, a carrier for carrying the cleaning device and a cleaning system. The cleaning device comprises a cleaning assembly, a walking assembly and a driving assembly. The cleaning assembly is configured to clean a surface to be cleaned. The walking assembly has a retracted state and a lifted state. The cleaning assembly is lifted when the walking assembly switches from the retracted state to the lifted state. The walking assembly comprises a first link and a second link. The first link is hinged to the cleaning assembly. The second link is hinged to the first link. The driving assembly is connected to the first link and the second link respectively to drive the first link and the second link to rotate, thereby switching the walking assembly between the retracted state and the lifted state. The cleaning device has strong environmental adaptability and can meet a relatively complex cleaning scene to better clean the surface to be cleaned in the relatively complex cleaning scene.

Description

Technical Field

[0001] This disclosure relates to the field of smart home technology, and in particular to a cleaning device, a carrier for carrying the cleaning device, and a cleaning system. Background Technology

[0002] In the field of smart home technology, existing cleaning devices have poor obstacle-crossing and climbing abilities, making them unable to adapt to more complex cleaning scenarios and thus unable to effectively clean the surfaces to be cleaned in more complex scenarios.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0004] The purpose of this disclosure is to provide a cleaning device, a carrier for carrying the cleaning equipment, and a cleaning system, which have strong environmental adaptability and can effectively clean surfaces in relatively complex cleaning scenarios.

[0005] This disclosure provides a cleaning device, comprising: Cleaning components are used to clean surfaces that require cleaning. A walking assembly has a retracted state and a raised state. When the walking assembly switches from the retracted state to the raised state, the cleaning assembly is raised. The walking assembly includes a first link and a second link. The first link is hinged to the cleaning assembly, and the second link is hinged to the first link. A drive assembly is provided, which is connected to the first link and the second link respectively, to drive the first link and the second link to rotate, thereby allowing the walking assembly to switch between the retracted state and the raised state.

[0006] In one exemplary embodiment of this disclosure, when the walking component is in the retracted state, the first link and the second link are higher than the bottom surface of the cleaning component.

[0007] In one exemplary embodiment of this disclosure, the cleaning component includes a walking wheel, and when the walking component is in the retracted state, the first link and the second link are higher than the bottom surface of the walking wheel.

[0008] In one exemplary embodiment of this disclosure, the cleaning assembly includes a cleaning member, wherein when the walking assembly is in the retracted state, the first link and the second link are higher than the bottom surface of the cleaning member.

[0009] In one exemplary embodiment of this disclosure, the cleaning component includes: A cleaning device, wherein the first connecting rod is hinged to the cleaning device, and the cleaning device is used to clean the surface to be cleaned.

[0010] In one exemplary embodiment of this disclosure, the cleaning component includes: The first connecting rod is hinged to the load-bearing body; A cleaning device, which can be housed in the carrier, is used to clean a surface to be cleaned.

[0011] In one exemplary embodiment of this disclosure, in response to the cleaning device entry request, the walking component switches to the raised state, and the carrier and the cleaning device are aligned; in response to the alignment of the carrier and the cleaning device being completed, the walking component switches to the retracted state, so that the cleaning device enters the carrier.

[0012] In one exemplary embodiment of this disclosure, in response to a request for the cleaning device to leave, the walking component switches to the retracted state; in response to the separation of the cleaning device and the carrier, the walking component switches to the raised state.

[0013] In one exemplary embodiment of this disclosure, the carrier has a receiving space for accommodating the cleaning device.

[0014] In one exemplary embodiment of this disclosure, the bottom surface of the carrier has a first opening, which communicates with the receiving space, and the cleaning device can enter the receiving space through the first opening.

[0015] In one exemplary embodiment of this disclosure, the cleaning device further includes: A limiting structure is provided on the carrier to limit the cleaning equipment located within the receiving space.

[0016] In one exemplary embodiment of this disclosure, the limiting structure has a limiting state and a releasing state; The limiting structure switches from the released state to the limiting state in response to the cleaning device entering the receiving space, so as to limit at least the bottom of the cleaning device; The limiting structure switches from the limiting state to the releasing state in response to the cleaning device leaving the receiving space, thereby releasing the cleaning device.

[0017] In one exemplary embodiment of this disclosure, the limiting structure has a fixed end and a limiting end, the fixed end being connected to the carrier; When the limiting structure is in the limiting state, there is a first distance between the limiting end and the first reference line; When the limiting structure is in the released state, there is a second distance between the limiting end and the first reference line, and the first distance is less than the second distance; The first reference line is an auxiliary line that passes through the center of the accommodating space and extends along the height direction of the cleaning device.

[0018] In one exemplary embodiment of this disclosure, the fixed end is rotatably connected to the carrier, and the limiting structure is configured to switch between the limiting state and the releasing state by rotation.

[0019] In one exemplary embodiment of this disclosure, the inner wall of the accommodating space is provided with an accommodating cavity, and when the limiting structure is in the released state, at least a portion of the limiting structure is located within the accommodating cavity.

[0020] In one exemplary embodiment of this disclosure, the cleaning device includes: At least two of the limiting structures are provided at intervals along a first direction; Wherein, the first direction is the direction surrounding the inner wall of the accommodating space.

[0021] In one exemplary embodiment of this disclosure, the driving component includes: A first driving component, which is connected to the first connecting rod; The second driving component is connected to the second connecting rod; Wherein, the first driving member is used to drive the first link to switch between a first folded state and a first extended state, and the second driving member is used to drive the second link to switch between a second folded state and a second extended state, so that the walking component switches between the retracted state and the raised state.

[0022] In one exemplary embodiment of this disclosure, the first drive member has a first fixing part and a first drive part, the first fixing part is fixed to the cleaning assembly, and the upper end of the first connecting rod is connected to the first drive part; The second driving member has a second fixing part and a second driving part. The second fixing part is fixed to the side of the first connecting rod opposite to the first driving part, and the second connecting rod is connected to the second driving part.

[0023] In one exemplary embodiment of this disclosure, the second fixing part is fixed to the upper end of the first connecting rod.

[0024] In one exemplary embodiment of this disclosure, the walking component further includes: A traction rod, one end of which is rotatably connected to the second connecting rod, and the other end of which is connected to the second drive unit; The driving ear has a first connecting part and a second connecting part. The first connecting part is fixedly connected to the second driving part, and the second connecting part is rotatably connected to the end of the traction rod away from the second connecting rod.

[0025] In one exemplary embodiment of this disclosure, the cleaning device further includes: A protective housing is disposed on the side of the first connecting rod opposite to the cleaning component, and an accommodating space is formed between the protective housing and the first connecting rod, wherein at least a portion of the traction rod and at least a portion of the connecting lug are disposed in the accommodating space.

[0026] In one exemplary embodiment of this disclosure, the cleaning device includes: At least two sets of the walking components are arranged at intervals.

[0027] In one exemplary embodiment of this disclosure, the cleaning device includes: The two sets of walking components are respectively connected to the front and rear of the cleaning component. When the walking component connected to the front of the cleaning component switches from the contracted state to the raised state, the rotation direction of the first link is different from the rotation direction of the first link when the walking component connected to the rear of the cleaning component switches from the contracted state to the raised state.

[0028] In an exemplary embodiment of this disclosure, each group of walking components includes two walking components, which are respectively located on both sides of the second reference line; Wherein, the second reference line is an auxiliary line that passes through the center of the cleaning component and extends along a second direction, the second direction being the direction from the front of the cleaning component to the rear of the cleaning component.

[0029] In one exemplary embodiment of this disclosure, the carrier is provided with a detection opening, and the cleaning device further includes: A detection module is installed on the cleaning assembly, and the detection module and the detection opening are arranged opposite to each other.

[0030] In one exemplary embodiment of this disclosure, the walking component has a stair-climbing mode, and the driving component controls the walking component to enter the stair-climbing mode in response to a stair-climbing command. The cleaning device includes multiple walking components, and in the stair-climbing mode, the driving component drives the multiple walking components to alternately lift onto the tread of the steps to perform stair-climbing walking.

[0031] Another aspect of this disclosure provides a carrier for carrying cleaning equipment, comprising: The carrier is used to support the cleaning equipment; A walking assembly has a retracted state and a raised state. When the walking assembly switches from the retracted state to the raised state, the carrier is raised. The walking assembly includes a first link and a second link. The first link is hinged to the carrier, and the second link is hinged to the first link. A drive assembly is provided, which is connected to the first link and the second link respectively, to drive the first link and the second link to rotate, thereby allowing the walking assembly to switch between the retracted state and the raised state.

[0032] This disclosure also provides a cleaning system, comprising: Base station; A cleaning device, wherein the cleaning device is as described above, the cleaning device is capable of being placed on the base station, and / or the cleaning device is capable of docking with the base station.

[0033] The technical solution provided in this disclosure can achieve the following beneficial effects: The cleaning device provided in this disclosure includes a cleaning component, a walking component, and a drive component. The walking component includes a first link and a second link, the first link being hinged to the cleaning component, the second link being hinged to the first link, and the drive component capable of driving the first and second links to rotate, thereby switching the walking component between a retracted state and a raised state.

[0034] With this setup, the height of the cleaning component can be changed by switching the state of the walking component, so that the cleaning device has the ability to clean the surface to be cleaned, as well as the ability to overcome obstacles and climb.

[0035] For example, the cleaning device can switch the walking component to a retracted state, thereby lowering the height of the cleaning component and enabling the cleaning device to clean the surface to be cleaned; or, the cleaning device can switch the walking component to a raised state, thereby increasing the height of the cleaning component and enabling the cleaning device to cross obstacles or climb steps.

[0036] Therefore, this cleaning device has strong environmental adaptability and can meet the needs of more complex cleaning scenarios, so as to effectively clean the surfaces to be cleaned in more complex scenarios.

[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0039] Figure 1 A schematic diagram of the cleaning apparatus according to an embodiment of the present disclosure is shown when the walking component is in a retracted state; Figure 2 A schematic diagram of the cleaning apparatus according to an embodiment of the present disclosure is shown when the walking component is in a raised state; Figure 3 A schematic diagram of the cleaning apparatus according to another embodiment of the present disclosure is shown when the walking component is in a retracted state. Figure 4 A schematic diagram of the cleaning apparatus according to another embodiment of the present disclosure is shown when the walking component is in a raised state. Figure 5 A schematic diagram of the cleaning device according to another embodiment of the present disclosure is shown when the walking component is in a retracted state. Figure 6 A partial structural schematic diagram of a cleaning apparatus according to an embodiment of the present disclosure is shown; Figure 7 A partial structural schematic diagram of a cleaning apparatus according to another embodiment of the present disclosure is shown; Figures 8 to 13 A schematic diagram illustrating the steps of climbing stairs using a cleaning device according to an embodiment of this disclosure is shown; Figure 14 A schematic diagram of the structure of the carrier and cleaning equipment before assembly according to an embodiment of the present disclosure is shown; Figure 15 A schematic diagram of the cleaning apparatus according to another embodiment of the present disclosure is shown when the walking component is in a raised state.

[0040] Explanation of reference numerals in the attached figures: 1. Cleaning device; 11. Cleaning assembly; 11a. Detection opening; 111. Carrier; 111a. Accommodation space; 111b. First opening; 111c. Accommodation cavity; 12. Walking assembly; 121. First connecting rod; 122. Second connecting rod; 123. Traction rod; 124. Drive ear; 125. Protective shell; 13. Drive assembly; 131. First drive component; 132. Second drive component; 14. Limiting structure; 141. First limiting arm; 142. Second limiting arm; 143. Connecting rod; 2. Surface to be cleaned; 3. Cleaning equipment; 31. Cleaning components; 32. Wheels; 4. Steps; 41. First step; 42. Second step; 43. Third step; 5. Carriers used to support cleaning equipment; S1, First reference line; S2, Second reference line; X, first direction; Y, second direction; Z, altitude direction; W, third direction. Detailed Implementation

[0041] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0042] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0043] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion meaning and that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0044] like Figures 1 to 15As shown, some embodiments provide a cleaning system that may include a base station and a cleaning device 1. The cleaning device 1 can be placed on the base station; or the cleaning device 1 can be docked with the base station; or the cleaning device 1 can be placed on and docked with the base station. When the cleaning device 1 is docked with the base station, the base station can charge, refill water, and clean the cleaning device 1, or suck out dirt stored in the cleaning device 1.

[0045] Specifically, the cleaning device 1 may include a cleaning component 11, a walking component 12, and a drive component 13. The cleaning component 11 may include a cleaning device 3, which can be configured to clean the surface 2 to be cleaned. The cleaning device 3 may be a robot vacuum cleaner, a vacuum cleaner, a floor scrubber, etc., thereby enabling the cleaning device 1 to directly clean the surface 2 to be cleaned.

[0046] Or, such as Figures 3 to 5 As shown, the cleaning component 11 may include a carrier 111 and a cleaning device 3. The carrier 111 may be configured to support the cleaning device 3, and the cleaning device 3 may be configured to clean the surface 2 to be cleaned. That is, the cleaning device 1 can be understood as consisting of the cleaning device 3 and a carrier capable of moving the cleaning device 3 (the carrier may include the carrier 111, a walking component 12, and a drive component 13). Furthermore, the cleaning device 3 described herein may also be a robotic vacuum cleaner, a floor scrubber, etc.

[0047] like Figures 1 to 7 As shown, the walking component 12 can have a retracted state and a raised state. When the walking component 12 switches from the retracted state to the raised state, the cleaning component 11 can be raised. When the walking component 12 switches from the raised state to the retracted state, the height of the cleaning component 11 can be lowered.

[0048] The walking assembly 12 may include a first link 121 and a second link 122. The first link 121 may be hinged to the cleaning assembly 11, for example, the upper end of the first link 121 may be hinged to the cleaning assembly 11, but is not limited thereto. When the cleaning assembly 11 only includes the cleaning device 3, the first link 121 may be hinged to the cleaning device 3. When the cleaning assembly 11 includes a carrier 111 and the cleaning device 3, the first link 121 may be hinged to the carrier 111.

[0049] The second link 122 can be hinged to the first link 121, for example, the second link 122 can be hinged to the lower end of the first link 121, but is not limited thereto.

[0050] The drive assembly 13 can be connected to the first link 121 and the second link 122 respectively to drive the first link 121 and the second link 122 to rotate, thereby switching the walking assembly 12 between the retracted state and the raised state.

[0051] With this configuration, the height of the cleaning component 11 can be changed by switching the state of the walking component 12, so that the cleaning device 1 has the ability to clean the surface 2 to be cleaned, as well as the ability to overcome obstacles and climb.

[0052] For example, the cleaning device 1 can switch the walking component 12 to a retracted state, thereby reducing the height of the cleaning component 11 and enabling the cleaning device 1 to clean the surface 2 to be cleaned; or, the cleaning device 1 can switch the walking component 12 to a raised state, thereby increasing the height of the cleaning component 11 and enabling the cleaning device 1 to cross obstacles or climb steps 4.

[0053] Therefore, the cleaning device 1 has strong environmental adaptability and can meet the needs of more complex cleaning scenarios, so as to effectively clean the surface 2 to be cleaned in more complex cleaning scenarios.

[0054] Furthermore, the drive assembly 13 can drive the first link 121 to switch between a first folded state and a first extended state. It is understood that the support height of the first link 121 in the first extended state can be higher than the support height of the first link 121 in the first folded state. For example... Figures 1 to 4 As shown, when the first link 121 switches from the first folded state to the first extended state, the first link 121 can increase the support height, so that the walking component 12 switches to the raised state, thereby increasing the height of the cleaning component 11.

[0055] like Figures 1 to 4 As shown, when the first link 121 switches from the first extended state to the first folded state, the first link 121 can reduce the support height, so that the walking component 12 switches to the retracted state, thereby reducing the height of the cleaning component 11.

[0056] Or, such as Figures 1 to 4 As shown, the drive assembly 13 can drive the second link 122 to switch between a second folded state and a second extended state. It is understood that the support height of the second link 122 in the second extended state can be higher than the support height of the second link 122 in the second folded state. Figures 1 to 4 As shown, when the second link 122 switches from the second folded state to the second extended state, the second link 122 can increase the support height, so that the walking component 12 switches to the raised state, thereby increasing the height of the cleaning component 11.

[0057] When the second link 122 switches from the second extended state to the second folded state, the second link 122 can reduce the support height, so that the walking component 12 switches to the retracted state, thereby reducing the height of the cleaning component 11.

[0058] Or, such as Figures 1 to 4 As shown, the drive assembly 13 can drive the first link 121 to switch between a first folded state and a first extended state, and can drive the second link 122 to switch between a second folded state and a second extended state. It can be understood that when the first link 121 switches from the first folded state to the first extended state, and the second link 122 switches from the second folded state to the second extended state, the first link 121 and the second link 122 can increase the support height, causing the walking assembly 12 to switch to a raised state, thereby increasing the height of the cleaning assembly 11.

[0059] When the first link 121 switches from the first extended state to the first folded state, and the second link 122 switches from the second extended state to the second folded state, the first link 121 and the second link 122 can simultaneously reduce their support height, so that the walking component 12 switches to the retracted state, thereby reducing the height of the cleaning component 11.

[0060] In some embodiments, such as Figures 3 to 5 As shown, when the walking component 12 is in the retracted state, the first link 121 and the second link 122 can be higher than the bottom surface of the cleaning component 11 to ensure that the walking component 12 does not raise the height of the cleaning component 11 when it is in the retracted state, so that the cleaning component 11 can maintain contact with the surface 2 to be cleaned, thereby ensuring the cleaning effect of the cleaning device 1.

[0061] In some embodiments, such as Figure 3 and Figure 5 As shown, the cleaning component 11 may include a cleaning element 31. When the walking component 12 is in the retracted state, the first link 121 and the second link 122 may be higher than the bottom surface of the cleaning element 31. This arrangement ensures that the walking component 12 will not raise the height of the cleaning element 31 113 when in the retracted state, allowing the cleaning element 31 to maintain contact with the surface 2 to be cleaned, thereby further ensuring the cleaning effect of the cleaning device 1.

[0062] In some embodiments, such as Figure 3 and Figure 5As shown, the cleaning component 11 may include a walking wheel 32. When the walking component 12 is in the retracted state, the height of the first link 121 and the second link 122 may be higher than the bottom surface of the walking wheel 32. This arrangement ensures that the walking component 12 will not raise the height of the walking wheel 32 when in the retracted state, allowing the walking wheel 32 to maintain contact with the surface 2 to be cleaned, thus ensuring the normal movement of the walking wheel 32 and the normal operation of the cleaning component 11.

[0063] In some embodiments, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the drive assembly 13 may include a first drive member 131, which may be connected to the first link 121 to drive the first link 121 to switch between a first folded state and a first extended state. The first drive member 131 may be a drive motor, but is not limited thereto. The first drive member 131 may also be other structural components with driving capabilities, such as a hydraulic rod, and this disclosure does not limit this.

[0064] like Figure 7 As shown, the walking assembly 12 may further include a second drive member 132, which can be connected to the second link 122 to drive the second link 122 to switch between a second folded state and a second extended state. The second drive member 132 may be a drive motor, but is not limited thereto. The second drive member 132 may also be other structural components with driving capabilities, such as a hydraulic rod, and this disclosure does not limit this.

[0065] This embodiment improves the flexibility and freedom of the walking assembly 12 by providing two driving components that drive the first link 121 and the second link 122 respectively. This allows the walking assembly 12 to have more support methods and support heights. For example, the first driving component 131 can drive the first link 121 to switch to a first folded state, and the second driving component 132 can drive the second link 122 to switch to a second folded state; or, the first driving component 131 can drive the first link 121 to switch to a first folded state, and the second driving component 132 can drive the second link 122 to switch to a second extended state; or, the first driving component 131 can drive the first link 121 to switch to a first extended state, and the second driving component 132 can drive the second link 122 to switch to a second folded state; or, the first driving component 131 can drive the first link 121 to switch to a first extended state, and the second driving component 132 can drive the second link 122 to switch to a second extended state. In this way, the environmental adaptability of the cleaning device 1 can be further improved, and different support methods can be switched according to different cleaning scenarios, thereby further improving the cleaning effect of the cleaning device 1.

[0066] In some embodiments, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the first driving member 131 may have a first fixing part and a first driving part. The first fixing part may be fixed to the cleaning assembly 11, and the upper end of the first connecting rod 121 may be connected to the first driving part, so that the first driving part can drive the upper end of the first connecting rod 121 to rotate, thereby driving the entire first connecting rod 121 to rotate. Furthermore, by setting the first fixing part to the cleaning assembly 11, a stable setting position can be provided for the first driving member 131, improving the stability of the first driving member 131 and ensuring that the first driving member 131 can stably drive the first connecting rod 121 to rotate.

[0067] like Figure 7 As shown, the second driving member 132 may have a second fixing part and a second driving part. The second fixing part may be fixed to the side of the first connecting rod 121 opposite to the first driving part, and the second connecting rod 122 may be connected to the second driving part so that the second driving part can drive the rotation of the second connecting rod 122. By fixing the second fixing part to the first connecting rod 121, the second driving member 132 can be avoided from being fixed to the cleaning assembly 11 as well, thereby saving space in the cleaning assembly 11. Furthermore, by placing the second driving member 132 on the first connecting rod 121, the distance between the second driving member 132 and the second connecting rod 122 can be reduced, thereby reducing the transmission distance between the second driving part and the second connecting rod 122. At the same time, since the first connecting rod 121 is wider and has greater structural strength, placing the second driving member 132 on the first connecting rod 121 can ensure the stability of the second driving member 132. In addition, by placing the second drive member 132 and the first drive member 131 on both sides of the first link 121, motion interference between the second drive member 132 and the first drive member 131 can be avoided, ensuring that the first link 121 and the second link 122 can switch states smoothly and stably.

[0068] In some embodiments, the second fixing part can be fixed to the upper end of the first link 121. Since the upper end of the first link 121 is wider and has greater structural strength than other positions of the first link 121, fixing the second fixing part to the upper end of the first link 121 can further improve the stability of the second drive member 132.

[0069] like Figure 2 , Figure 4 and Figure 7As shown, the walking assembly 12 may further include a traction rod 123, one end of which is rotatably connected to the second connecting rod 122, and the other end of which is connected to the second drive unit. Since the second drive unit 132 is located at the upper end of the first connecting rod 121, and the second connecting rod 122 is rotatably connected to the lower end of the first connecting rod 121, the traction rod 123 can transmit the driving force provided by the second drive unit, allowing the traction rod 123 to pull or push the second connecting rod 122 under the drive of the second drive unit, causing the second connecting rod 122 to rotate.

[0070] like Figure 7 As shown, the walking assembly 12 may further include a drive ear 124, which may have a first connecting portion and a second connecting portion. The first connecting portion may be fixedly connected to the second driving portion, and the second connecting portion may be rotatably connected to the end of the traction rod 123 away from the second connecting rod 122. By providing the drive ear 124 and making the second connecting portion rotatably connected to the end of the traction rod 123 away from the second connecting rod 122, the drive ear 124, the traction rod 123, the second connecting rod 122, and the first connecting rod 121 can form a planar linkage mechanism, further ensuring that the traction rod 123 can pull or push the second connecting rod 122 under the drive of the second driving portion, causing the second connecting rod 122 to rotate, and improving the stability and accuracy of the rotation of the second connecting rod 122.

[0071] In some embodiments, such as Figures 1 to 4 As shown, the cleaning device 1 may include a protective housing 125. The protective housing 125 may be disposed on the side of the first connecting rod 121 opposite to the cleaning assembly 11, and an accommodating space may be formed between the protective housing and the first connecting rod 121. At least a portion of the traction rod 123 and at least a portion of the connecting lugs may be disposed within the accommodating space to provide protection for the traction rod 123 and the drive lugs 124 using the protective housing 125.

[0072] Furthermore, the second drive member 132 can also be disposed within the accommodating space to provide protection for the second drive member 132 using the protective housing 125.

[0073] The second fixing part can be fixed to the upper end of the first connecting rod 121 on the side opposite to the first driving part; or, the second fixing part can be fixed to the upper end of the protective shell 125 on the side close to the first driving part; or, the second fixing part can be fixed to both the upper end of the first connecting rod 121 on the side opposite to the first driving part and the upper end of the protective shell 125 on the side close to the first driving part.

[0074] Part of the second link 122 can be located between the first link 121 and the protective shell 125, and is rotatably connected to both the first link 121 and the protective shell 125. This allows the first link 121 and the protective shell 125 to limit the movement of the second link 122, thereby improving the stability of the rotatable connection between the second link 122 and the first link 121. Furthermore, this arrangement provides protection at the connection point between the first link 121 and the second link 122 using the first link 121 and the protective shell 125, further enhancing the stability of the rotatable connection between the second link 122 and the first link 121.

[0075] In some embodiments, such as Figures 1 to 15 As shown, the cleaning device 1 may include at least two sets of walking components 12, which may be spaced apart to improve the stability of the cleaning device 1 during walking, obstacle crossing, and stair climbing. The at least two sets of walking components 12 may be spaced apart along a second direction Y, where the second direction Y can be the direction from the front of the cleaning component 11 to the rear of the cleaning component 11; alternatively, at least two sets of walking components 12 may be spaced apart along a third direction W, where the third direction W may have a non-zero angle with the second direction Y. For example, when the third direction W is perpendicular to the second direction Y, the at least two sets of walking components 12 may be positioned on the left and right sides of the cleaning component 11.

[0076] The cleaning device 1 may include two sets of walking components 12. The two sets of walking components 12 may be connected to the front and rear of the cleaning component 11 respectively, and the rotation direction of the first link 121 when the walking component 12 connected to the front of the cleaning component 11 switches from the retracted state to the raised state is different from the rotation direction of the first link 121 when the walking component 12 connected to the rear of the cleaning component 11 switches from the retracted state to the raised state.

[0077] Each group of walking components 12 may include two walking components, which may be located on either side of the second reference line S2. The second reference line S2 may be an auxiliary line passing through the center of the cleaning component 11 and extending along the second direction Y. By including two walking components 12 in each group of walking components 12, the cleaning device 1 can be a quadruped robot, with the four walking components 12 located at the four corners of the cleaning component 11, thereby further improving the stability of the cleaning device 1 during walking, obstacle crossing, and stair climbing. For example, the walking components 12 can walk in a raised state; for instance, by driving the four walking components 12 to swing through the drive component 13, the cleaning device 1 can mimic the walking of a quadruped.

[0078] However, this is not the only possibility. Each group of walking components 12 may not include two walking components 12. For example, each group of walking components 12 may include only one walking component 12, or include three walking components 12, four walking components 12, etc.

[0079] It should be noted that the second reference line S2 mentioned above can be a virtual auxiliary line, and the physical structure of the second reference line S2 may not exist on the cleaning device 1.

[0080] In some embodiments, the walking component 12 may have a walking mode, and the drive component 13 may control the walking component 12 to enter the walking mode in response to a walking command. The cleaning device 1 may include multiple walking components 12, and in the walking mode, the drive component 13 may drive the multiple walking components 12 to alternately raise and lower to perform walking.

[0081] However, this is not the only possibility; the walking assembly 12 may also include a drive wheel and a third drive member. The drive wheel is rotatably mounted on the lower end of the second link 122, and the third drive member can be mounted on the drive wheel or the second link 122 to drive the drive wheel to rotate, thereby enabling the cleaning device 1 to move. Based on this, the third drive members of the multiple walking assemblies 12 of the cleaning device 1 can simultaneously drive the drive wheels of each walking assembly 12, so that the four walking assemblies 12 move simultaneously to enable the cleaning device 1 to move.

[0082] The walking component 12 may also have an obstacle-crossing mode, and the drive component 13 may control the walking component 12 to enter the obstacle-crossing mode in response to an obstacle-crossing command. The cleaning device 1 may include multiple walking components 12, and in the obstacle-crossing mode, the drive component 13 may drive multiple walking components 12 to lift alternately to cross obstacles.

[0083] Specifically, when the cleaning device 1 needs to cross an obstacle, one of the walking components 12 connected to the front of the cleaning assembly 11 can be raised by rotating the first link 121 and the second link 122 to cross the obstacle. Subsequently, another walking component 12 connected to the front of the cleaning assembly 11 can be raised by rotating its first link 121 and the second link 122 to follow the aforementioned walking component 12 across the obstacle, so that the entire walking component 12 connected to the front of the cleaning assembly 11 can cross the obstacle.

[0084] After all the walking components 12 connected to the front of the cleaning assembly 11 have crossed the obstacle, one of the walking components 12 connected to the rear of the cleaning assembly 11 can cross the obstacle by rotating its first link 121 and second link 122. Subsequently, the other walking component 12 connected to the rear of the cleaning assembly 11 can be raised by rotating its first link 121 and second link 122 to follow the aforementioned walking component 12 across the obstacle. In this way, all the walking components 12 connected to the rear of the cleaning assembly 11 can cross the obstacle, thereby enabling the cleaning device 1 to cross the obstacle.

[0085] The walking component 12 may also have a stair-climbing mode, and the drive component 13 may control the walking component 12 to enter the stair-climbing mode in response to a stair-climbing command. The cleaning device 1 may include multiple walking components 12, and in the stair-climbing mode, the drive component 13 may drive multiple walking components 12 to alternately lift onto the tread of the step 4 to perform stair-climbing walking.

[0086] It should be noted that step 4 can have a tread and a riser, where the tread is the horizontal surface of step 4 and the riser is the vertical surface of step 4.

[0087] like Figures 8 to 13 As shown, when the cleaning device 1 needs to cross the stairs, one of the walking components 12 connected to the front of the cleaning component 11 can be raised by rotating its first link 121 and second link 122 to step onto the tread of the first step 41. Then, the other walking component 12 connected to the front of the cleaning component 11 can be raised by rotating its first link 121 and second link 122 to step onto the tread of the first step 41, so that the entire walking component 12 connected to the front of the cleaning component 11 can step onto the first step 41.

[0088] Once all the walking components 12 connected to the front of the cleaning assembly 11 have stepped onto the first step 41, one of the walking components 12 connected to the front of the cleaning assembly 11 can be raised by rotating its first link 121 and second link 122 to step onto the tread of the second step 42. Subsequently, the other walking component 12 connected to the front of the cleaning assembly 11 can be raised by rotating its first link 121 and second link 122 to follow the aforementioned walking component 12 onto the tread of the second step 42, thereby enabling all the walking components 12 connected to the front of the cleaning assembly 11 to step onto the second step 42.

[0089] After all the walking components 12 connected to the front of the cleaning assembly 11 have stepped onto the second step 42, one of the walking components 12 connected to the rear of the cleaning assembly 11 can be raised by rotating its first link 121 and second link 122 to step onto the tread of the first step 41. Subsequently, another walking component 12 connected to the rear of the cleaning assembly 11 can be raised by rotating its first link 121 and second link 122 to follow the aforementioned walking component 12 onto the first step, thereby enabling all the walking components 12 connected to the rear of the cleaning assembly 11 to step onto the first step 41.

[0090] After all the walking components 12 connected to the rear of the cleaning component 11 have stepped onto the first step 41, one of the walking components 12 connected to the front of the cleaning component 11 can be raised by rotating its first link 121 and second link 122 to step onto the tread of the third step 43. This movement is repeated so that the cleaning device 1 can complete the task of climbing stairs.

[0091] However, it is not limited to this. When the cleaning device 1 needs to climb stairs, one of the walking components 12 connected to the front of the cleaning component 11 can be raised by rotating its first link 121 and second link 122 to step onto the tread of the first step 41. Then, the other walking component 12 connected to the front of the cleaning component 11 can be raised by rotating its first link 121 and second link 122 to step onto the tread of the first step 41, so that the entire walking component 12 connected to the front of the cleaning component 11 can step onto the first step 41.

[0092] Once all the walking components 12 connected to the front of the cleaning assembly 11 have stepped onto the first step 41, one of the walking components 12 connected to the rear of the cleaning assembly 11 can be raised by rotating its first link 121 and second link 122 to step onto the tread of the first step 41. Subsequently, another walking component 12 connected to the rear of the cleaning assembly 11 can be raised by rotating its first link 121 and second link 122 to follow the aforementioned walking component 12 onto the tread of the first step 41, thereby enabling all the walking components 12 connected to the rear of the cleaning assembly 11 to step onto the first step 41.

[0093] After all the walking components 12 connected to the rear of the cleaning component 11 have stepped onto the first step 41, one of the walking components 12 connected to the front of the cleaning component 11 can be raised by rotating its first link 121 and second link 122 to step onto the tread of the second step 42. This movement is repeated so that the cleaning device 1 completes the task of climbing the step 4.

[0094] In some embodiments of this disclosure, such as Figure 14 As shown, in response to a request for the cleaning device 3 to enter, the walking component 12 can switch to a raised state, allowing the carrier 111 to align with the cleaning device 3. Upon completion of the alignment between the carrier 111 and the cleaning device 3, the walking component 12 can switch to a retracted state, allowing the cleaning device 3 to enter the carrier 111. By switching the walking component 12 to the retracted state, the height of the carrier 111 can be lowered to facilitate the entry of the cleaning device 3 into the carrier 111.

[0095] In response to the cleaning equipment 3 entering the carrier 111, the walking component 12 can switch to the lifting state to increase the height of the carrier 111, making it easier for the carrier 111 to carry the cleaning equipment 3 for walking and working.

[0096] Furthermore, in response to a request to leave the cleaning device 3, the walking component 12 can switch to a retracted state. By switching the walking component 12 to the retracted state, the height of the carrier 111 can be reduced to facilitate the departure of the cleaning device 3 from the carrier 111.

[0097] In response to the separation of the cleaning device 3 and the carrier 111, the walking component 12 can switch to a raised state to increase the height of the carrier 111, making it easier for the carrier 111 to walk and work independently.

[0098] like Figures 1 to 4 , Figure 14 and Figure 15 As shown, the carrier 111 has a receiving space 111a, which can be used to receive the cleaning device 3. The bottom surface of the carrier 111 may have a first opening 111b, which can communicate with the receiving space 111a. After the carrier 111 and the cleaning device 3 are aligned, the cleaning device 3 can enter the receiving space 111a through the first opening 111b.

[0099] In some embodiments, such as Figure 1 and Figure 2 As shown, the cleaning device 1 may also include a limiting structure 14, which may be disposed on the carrier 111 to limit the cleaning device 3 located in the receiving space 111a, so as to prevent the cleaning device 3 from falling out of the receiving space 111a during the movement of the cleaning device 1 and causing damage to the cleaning device 3.

[0100] The limiting structure 14 can have a limiting state and a releasing state. The limiting structure 14 can switch from the releasing state to the limiting state in response to the cleaning device 3 entering the receiving space 111a, to at least limit the bottom of the cleaning device 3 and prevent the cleaning device 1 from falling out of the first opening 111b. That is, it can be understood that when the cleaning device 3 enters the receiving space 111a, the limiting structure 14 can switch to the limiting state to limit the cleaning device 3.

[0101] The limiting structure 14 can switch from a limiting state to a releasing state in response to the cleaning device 3 leaving the receiving space 111a, so as to release the cleaning device 3. That is, it can be understood that when the cleaning device 3 needs to leave the receiving space 111a, the limiting structure 14 can switch to a releasing state to release the limitation on the cleaning device 3.

[0102] In some embodiments, the limiting structure 14 may have a fixed end and a limiting end, the fixed end being connected to the carrier 111. When the limiting structure 14 is in a limiting state, there may be a first distance between the limiting end and the first reference line S1. When the limiting structure 14 is in a released state, there may be a second distance between the limiting end and the first reference line S1, the first distance being less than the second distance. The first reference line S1 may be an auxiliary line passing through the center of the receiving space 111a and extending along the height direction Z of the cleaning device 1.

[0103] It should be noted that the first reference line S1 mentioned above can be a virtual auxiliary line, and the physical structure of the first reference line S1 may not exist on the cleaning device 1.

[0104] The fixed end is rotatably connected to the carrier 111, and the limiting structure 14 can be configured to switch between a limiting state and a releasing state by rotation. That is, when the limiting structure 14 switches from the releasing state to the limiting state, the limiting structure 14 can rotate to create a first distance between the limiting end and the first reference line S1. When the limiting structure 14 switches from the limiting state to the releasing state, the limiting structure 14 can rotate to create a second distance between the limiting end and the first reference line S1.

[0105] The limiting structure 14 may include a first limiting arm 141 and a second limiting arm 142. The fixed ends of both the first limiting arm 141 and the second limiting arm 142 are rotatably connected to the carrier 111, and the first limiting arm 141 and the second limiting arm 142 are spaced apart in the height direction Z. When the limiting structure 14 is in the limiting state, at least a portion of the cleaning device 3 can be located between the first limiting arm 141 and the second limiting arm 142. This arrangement allows the first limiting arm 141 and the second limiting arm 142 to limit the cleaning device 3 in the height direction Z, enabling the carrier 111 to more stably support the cleaning device 3.

[0106] The limiting structure 14 may further include a connecting rod 143. The connecting rod 143 may be disposed between the first limiting arm 141 and the second limiting arm 142, and connect the first limiting arm 141 and the second limiting arm 142, thereby improving the stability of the first limiting arm 141 and the second limiting arm 142, and improving the structural strength of the limiting structure 14 to enhance its supporting and limiting capacity and the limiting effect of the limiting structure 14.

[0107] The connecting rod 143 can be disposed between the fixed end of the first limiting arm 141 and the fixed end of the second limiting arm 142, and connect the fixed ends of the first limiting arm 141 and the second limiting arm 142. This arrangement avoids the connecting rod 143 occupying the limiting space between the first limiting arm 141 and the second limiting arm 142, thereby allowing more of the cleaning device 3 to be accommodated between the first limiting arm 141 and the second limiting arm 142. This ensures the limiting effect of the limiting structure 14 on the cleaning device 3, making the cleaning device 3 more stable when supported on the carrier 111.

[0108] However, it is not limited to this. The connecting rod 143 can also be set between the middle of the first limiting arm 141 and the middle of the second limiting arm 142, and connect the middle of the first limiting arm 141 and the middle of the second limiting arm 142, etc. It can be selected and set according to the actual situation, and all of this is within the protection scope of this disclosure.

[0109] In some embodiments, the inner wall of the receiving space 111a may be provided with a receiving cavity 111c, and the fixed end of the limiting structure 14 may be rotatably connected to the inner wall of the receiving space 111a. When the limiting structure 14 is in the released state, at least a portion of the limiting structure 14 may be located within the receiving cavity 111c to avoid positional interference of the limiting structure 14 with the cleaning device 3 when it separates from the carrier 111. Simultaneously, the size of the receiving space 111a can be reduced, ensuring that even when the receiving space 111a has a smaller size, the limiting structure 14 will not interfere with the position of the cleaning device 3, thereby further reducing the size of the carrier 111 and achieving miniaturization of the cleaning device 1.

[0110] In other embodiments, the limiting structure 14 and the carrier 111 may not be rotatably connected. For example, the limiting structure 14 may be a third telescopic member, with its fixed end fixedly connected to the carrier 111 and its extended end extending or retracting. When the limiting structure 14 is in the limiting state, the extended end of the third telescopic member extends to create a first distance between it and the first reference line S1. When the limiting structure 14 is in the released state, the extended end of the third telescopic member retracts to create a second distance between it and the first reference line S1. The limiting structure 14 may not be a third telescopic member; it may be other limiting structures 14, which can be selected and set according to actual conditions, all of which are within the protection scope of this disclosure.

[0111] In some embodiments, the cleaning device 1 may include at least two limiting structures 14, which may be spaced apart along a first direction X. The first direction X may be the direction surrounding the inner wall of the receiving space 111a. This arrangement improves the limiting capability of the cleaning device 1 and further reduces the probability of the cleaning device 3 detaching from the carrier 111.

[0112] When the cleaning device 1 includes at least two limiting structures 14, the inner wall of the receiving space 111a may be provided with at least two receiving cavities 111c. The at least two limiting structures 14 and the at least two receiving cavities 111c may correspond one-to-one. When the limiting structure 14 is in the released state, at least a portion of the limiting structure 14 may be located in its corresponding receiving cavity 111c.

[0113] In some embodiments of this disclosure, the cleaning device 1 may further include a detection module, which may be installed on the cleaning assembly 11. The detection module may be used to detect obstacles or steps 4 in the cleaning scene to assist the cleaning device 1 in crossing obstacles or climbing steps 4. The detection module may be a radar detection module, but is not limited thereto; it may also be an infrared detection module, etc. This disclosure does not limit the choice, and the appropriate module may be selected and configured according to the actual situation.

[0114] like Figure 14 As shown, a detection opening 11a is provided at the front of the cleaning component 11, and the detection module can be arranged opposite to the detection opening 11a. That is, the detection module is located at the front of the cleaning component 11, which makes it convenient for the detection module to detect obstacles or steps 4 in front of the cleaning device 1.

[0115] Other embodiments of this disclosure also provide a cleaning system, such as Figures 1 to 15As shown, the cleaning system may include a base station and a carrier 5 for carrying cleaning equipment. The carrier 5 can be placed on the base station; or the carrier 5 can be docked with the base station; or the carrier 5 can be both placed on and docked with the base station. When the carrier 5 is docked with the base station, the base station can perform functions such as charging and cleaning for the carrier 5.

[0116] In some embodiments, such as Figures 1 to 15 As shown, the carrier 5 for carrying the cleaning equipment may include: a carrier body 111, a walking assembly 12, and a drive assembly 13. The carrier body 111 can carry the cleaning equipment 3. The walking assembly 12 can have a retracted state and a raised state. When the walking assembly 12 switches from the retracted state to the raised state, the carrier body 111 can be raised. The walking assembly 12 may include a first link 121 and a second link 122. The first link 121 is hinged to the carrier body 111, and the second link 122 is hinged to the first link 121.

[0117] The drive assembly 13 can be connected to the first link 121 and the second link 122 respectively to drive the first link 121 and the second link 122 to rotate, thereby switching the walking assembly 12 between the retracted state and the raised state.

[0118] With this configuration, the height of the carrier 111 can be changed by switching the state of the walking component 12, so that the vehicle 5 used to carry the cleaning equipment can have the ability to overcome obstacles and climb.

[0119] For example, the carrier 5 for carrying cleaning equipment can switch the walking component 12 to a retracted state, thereby lowering the height of the carrier 111 so that the cleaning equipment 3 can enter or leave the carrier 111; or, the carrier 5 for carrying cleaning equipment can switch the walking component 12 to a raised state, thereby increasing the height of the carrier 111 so that the carrier 5 for carrying cleaning equipment can cross obstacles or climb steps 4.

[0120] Therefore, the carrier 5 used to carry the cleaning equipment can have strong environmental adaptability, meet the requirements of more complex working scenarios, and carry the cleaning equipment 3 to perform better cleaning in more complex working scenarios.

[0121] It should be noted that the carrier 111, walking assembly 12, and drive assembly 13 in the carrier 5 used to carry the cleaning equipment can be the same as those described in the previous topic. The previous topic provided a detailed description of the specific structure, working method, and working mode of the carrier 111, walking assembly 12, and drive assembly 13. In this topic, the specific structure, working method, and working mode of the carrier 111, walking assembly 12, and drive assembly 13 will not be repeated here; please refer to the description in the previous topic.

[0122] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the utility models disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A cleaning device, characterized in that, include: Cleaning components are used to clean surfaces that require cleaning. A walking assembly has a retracted state and a raised state. When the walking assembly switches from the retracted state to the raised state, the cleaning assembly is raised. The walking assembly includes a first link and a second link. The first link is hinged to the cleaning assembly, and the second link is hinged to the first link. A drive assembly is provided, which is connected to the first link and the second link respectively, to drive the first link and the second link to rotate, thereby allowing the walking assembly to switch between the retracted state and the raised state.

2. The cleaning device according to claim 1, characterized in that, When the walking component is in the retracted state, the first link and the second link are higher than the bottom surface of the cleaning component.

3. The cleaning device according to claim 1, characterized in that, The cleaning component includes a walking wheel, and when the walking component is in the retracted state, the first link and the second link are higher than the bottom surface of the walking wheel.

4. The cleaning device according to claim 1, characterized in that, The cleaning component includes a cleaning element, and when the walking component is in the retracted state, the first link and the second link are higher than the bottom surface of the cleaning element.

5. The cleaning device according to claim 1, characterized in that, The cleaning components include: A cleaning device, wherein the first connecting rod is hinged to the cleaning device, and the cleaning device is used to clean the surface to be cleaned.

6. The cleaning device according to claim 1, characterized in that, The cleaning components include: The first connecting rod is hinged to the load-bearing body; A cleaning device, which can be housed in the carrier, is used to clean a surface to be cleaned.

7. The cleaning device according to claim 6, characterized in that, In response to the cleaning equipment entry request, the walking component switches to the raised state, and the carrier and the cleaning equipment are aligned; In response to the alignment of the carrier and the cleaning device, the walking component switches to a retracted state to allow the cleaning device to enter the carrier.

8. The cleaning device according to claim 6, characterized in that, In response to a request for the cleaning device to leave, the walking component switches to the retracted state; in response to the separation of the cleaning device and the carrier, the walking component switches to the raised state.

9. The cleaning apparatus according to any one of claims 6 to 8, characterized in that, The carrier has a receiving space for accommodating the cleaning equipment.

10. The cleaning device according to claim 9, characterized in that, The bottom surface of the carrier has a first opening, which communicates with the receiving space, and the cleaning device can enter the receiving space through the first opening.

11. The cleaning device according to claim 10, characterized in that, The cleaning device also includes: A limiting structure is provided on the carrier to limit the cleaning equipment located within the receiving space.

12. The cleaning device according to claim 11, characterized in that, The limiting structure has a limiting state and a releasing state; The limiting structure switches from the released state to the limiting state in response to the cleaning device entering the receiving space, so as to limit at least the bottom of the cleaning device; The limiting structure switches from the limiting state to the releasing state in response to the cleaning device leaving the receiving space, thereby releasing the cleaning device.

13. The cleaning device according to claim 12, characterized in that, The limiting structure has a fixed end and a limiting end, and the fixed end is connected to the carrier. When the limiting structure is in the limiting state, there is a first distance between the limiting end and the first reference line; When the limiting structure is in the released state, there is a second distance between the limiting end and the first reference line, and the first distance is less than the second distance; The first reference line is an auxiliary line that passes through the center of the accommodating space and extends along the height direction of the cleaning device.

14. The cleaning device according to claim 13, characterized in that, The fixed end is rotatably connected to the carrier, and the limiting structure is configured to switch between the limiting state and the releasing state by rotation.

15. The cleaning device according to claim 14, characterized in that, The inner wall of the accommodating space is provided with an accommodating cavity. When the limiting structure is in the released state, at least a portion of the limiting structure is located within the accommodating cavity.

16. The cleaning apparatus according to claim 11, characterized in that, The cleaning device includes: At least two of the limiting structures are provided at intervals along a first direction; Wherein, the first direction is the direction surrounding the inner wall of the accommodating space.

17. The cleaning apparatus according to any one of claims 1 to 8, characterized in that, The driving component includes: A first driving component, which is connected to the first connecting rod; The second driving component is connected to the second connecting rod; Wherein, the first driving member is used to drive the first link to switch between a first folded state and a first extended state, and the second driving member is used to drive the second link to switch between a second folded state and a second extended state, so that the walking component switches between the retracted state and the raised state.

18. The cleaning apparatus according to claim 17, characterized in that, The first driving member has a first fixing part and a first driving part, the first fixing part is fixed to the cleaning assembly, and the upper end of the first connecting rod is connected to the first driving part; The second driving member has a second fixing part and a second driving part. The second fixing part is fixed to the side of the first connecting rod opposite to the first driving part, and the second connecting rod is connected to the second driving part.

19. The cleaning apparatus according to claim 18, characterized in that, The second fixing part is fixed to the upper end of the first connecting rod.

20. The cleaning apparatus according to claim 19, characterized in that, The walking component also includes: A traction rod, one end of which is rotatably connected to the second connecting rod, and the other end of which is connected to the second drive unit; The driving ear has a first connecting part and a second connecting part. The first connecting part is fixedly connected to the second driving part, and the second connecting part is rotatably connected to the end of the traction rod away from the second connecting rod.

21. The cleaning apparatus according to claim 20, characterized in that, The cleaning device also includes: A protective housing is disposed on the side of the first connecting rod opposite to the cleaning component, and an accommodating space is formed between the protective housing and the first connecting rod, wherein at least a portion of the traction rod and at least a portion of the connecting lug are disposed in the accommodating space.

22. The cleaning apparatus according to any one of claims 1 to 8, characterized in that, The cleaning device includes: At least two sets of the walking components are arranged at intervals.

23. The cleaning device according to claim 22, characterized in that, The cleaning device includes: The two sets of walking components are respectively connected to the front and rear of the cleaning component. When the walking component connected to the front of the cleaning component switches from the contracted state to the raised state, the rotation direction of the first link is different from the rotation direction of the first link when the walking component connected to the rear of the cleaning component switches from the contracted state to the raised state.

24. The cleaning apparatus according to claim 23, characterized in that, Each group of walking components includes two walking components, with the two walking components located on opposite sides of the second reference line; Wherein, the second reference line is an auxiliary line that passes through the center of the cleaning component and extends along a second direction, the second direction being the direction from the front of the cleaning component to the rear of the cleaning component.

25. The cleaning apparatus according to claim 6, characterized in that, The carrier is provided with a detection opening, and the cleaning device further includes: A detection module is installed on the cleaning assembly, and the detection module and the detection opening are arranged opposite to each other.

26. The cleaning apparatus according to any one of claims 1 to 8, characterized in that, The walking component has a stair-climbing mode. The drive component responds to the stair-climbing command and controls the walking component to enter the stair-climbing mode. The cleaning device includes multiple walking components. In the stair-climbing mode, the drive component drives the multiple walking components to alternately lift onto the tread of the steps to perform stair-climbing walking.

27. A carrier for carrying cleaning equipment, characterized in that, include: The carrier is used to support the cleaning equipment; A walking assembly has a retracted state and a raised state. When the walking assembly switches from the retracted state to the raised state, the carrier is raised. The walking assembly includes a first link and a second link. The first link is hinged to the carrier, and the second link is hinged to the first link. A drive assembly is provided, which is connected to the first link and the second link respectively, to drive the first link and the second link to rotate, thereby allowing the walking assembly to switch between the retracted state and the raised state.

28. A cleaning system, characterized in that, include: Base station; A cleaning device, wherein the cleaning device is any one of the cleaning devices described in claims 1 to 26, the cleaning device being able to be placed on the base station, and / or the cleaning device being able to dock with the base station.

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