Mobile platform and cleaning system

Abstract

A mobile platform (100) and a cleaning system. The mobile platform (100) comprises a carrying member (110), a telescopic member (130), a first lifting member (120a) and a second lifting member (120b). After the mobile platform (100) switches from a first operating surface to a second operating surface, the first lifting member (120a) rises relative to the telescopic member (130), the second lifting member (120b) rises relative to the telescopic member (130), and the telescopic member (130) retracts into the carrying member (110). The rising movements of the first lifting member (120a) and the second lifting member (120b) relative to the telescopic member (130) are independent of each other, and therefore the first lifting member (120a) and the second lifting member (120b) can retract asynchronously. When one of the first lifting member (120a) and the second lifting member (120b) rises relative to the telescopic member (130) to retract, the other remains supported on the ground, and can stably support the mobile platform (100), such that the mobile platform (100) remains stable. A cleaning apparatus (200) is supported by the mobile platform (100), and moves stably on stairs or step surfaces along with the mobile platform (100).

Description

Mobile platform and cleaning system Cross-reference to related applications

[0001] This application claims priority to Chinese Patent Application No. 202520131812.3, filed January 20, 2025, the disclosure of which is incorporated herein in its entirety by this reference as part of the present application. TECHNICAL FIELD

[0002] The present application belongs to the technical field of electrical equipment, and particularly relates to a mobile platform and a cleaning system. BACKGROUND

[0003] A cleaning device is an intelligent electric appliance with cleaning functions such as sweeping, dust collection, and mopping, and can automatically complete the autonomous cleaning of the ground. In recent years, cleaning devices have developed rapidly and have entered millions of households. However, the functions of most cleaning devices are limited to flat ground cleaning, and the use occasions are limited.

[0004] In order to enable the cleaning device to be applied to step cleaning, stair cleaning, or cleaning of different floors, related technologies disclose many stair climbing devices that support the cleaning device to move on the stairs or clean the step surface through the stair climbing device. However, the stability of the current stair climbing device when supporting the cleaning device to move on the stairs is poor, and the cleaning device has the risk of falling.

[0005] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0006] To this end, the present application provides a mobile platform and a cleaning system, aiming to at least partly solve the technical problem of poor stability of the stair climbing device when moving on the stairs in the prior art.

[0007] In a first aspect of the present application, a mobile platform is provided, comprising: a carrier supporting a cleaning device; a telescopic member connected with the carrier; a first lifting member connected with the telescopic member; and a second lifting member connected with the telescopic member, after the mobile platform switches from a first operation surface to a second operation surface, the first lifting member rises relative to the telescopic member, the second lifting member rises relative to the telescopic member, the telescopic member retracts to the carrier, and the ground clearance of the first operation surface is less than that of the second operation surface.

[0008] The mobile platform provided in the application comprises a bearing member, a telescopic member, a first lifting member and a second lifting member. After the mobile platform switches from the first operation surface to the second operation surface, the first lifting member is lifted relative to the telescopic member, the second lifting member is lifted relative to the telescopic member, and the telescopic member is retracted into the bearing member. The lifting movements of the first lifting member and the second lifting member relative to the telescopic member are independent of each other, so that the first lifting member and the second lifting member can be retracted asynchronously. After the mobile platform switches from the first operation surface to the second operation surface, one of the first lifting member and the second lifting member is lifted and retracted relative to the telescopic member, and the other one is still supported on the ground, so that the mobile platform can be stably supported, and the mobile platform can be kept stable during the switching from the first operation surface to the second operation surface. The cleaning device is supported by the mobile platform, and moves stably on the stair or step surface along with the mobile platform.

[0009] In the second aspect of the application, a cleaning system is provided, which comprises a cleaning device and the above-mentioned mobile platform, and the mobile platform supports the movement of the cleaning device.

[0010] The cleaning system provided in the application greatly expands the use occasions of the cleaning device because the mobile platform can carry the cleaning device to move on the stair or step surface. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0012] Fig. 1 shows a structural schematic diagram of a mobile platform in one or more embodiments of the application.

[0013] Fig. 2A shows a structural schematic diagram of the mobile platform in Fig. 1 when climbing stairs, in which the first lifting member of the mobile platform has started to rise, and the second lifting member is still supported on the ground.

[0014] Fig. 2B shows a structural schematic diagram of the mobile platform in Fig. 1 when climbing stairs, in the figure, the first lifting member of the mobile platform has been retracted into the bearing member, and the second lifting member is still supported on the ground.

[0015] Fig. 3 shows a structural schematic diagram of a mobile platform in one or more embodiments of the application. The bearing member is partially cut away to show its internal structure.

[0016] Fig. 4 shows a structural schematic diagram of a first supporting leg of the mobile platform in one or more embodiments of the application.

[0017] Figure 5A shows a structural schematic diagram of the mobile platform of Figure 3 when climbing stairs, in which the first leg of the mobile platform has been retracted to the translation platform, and the second leg is still supported on the ground.

[0018] Figure 5B shows a structural schematic diagram of the mobile platform of Figure 3 when climbing stairs, in which the first leg of the mobile platform has been retracted to the translation platform, and the second leg has been retracted, but the second telescopic member has not been retracted, and the rear end of the mobile platform is suspended.

[0019] Figure 6 shows a structural schematic diagram of the first lifting member of the mobile platform in one or more embodiments of the present application.

[0020] Figure 7 shows a full sectional view of Figure 6.

[0021] Figure 8 shows a structural schematic diagram of the first lifting member and the second lifting member of Figure 6 in an upward state.

[0022] Figure 9 shows a structural schematic diagram of the first telescopic member of the mobile platform in one or more embodiments of the present application.

[0023] Figure 10 shows a structural schematic diagram of the internal structure of the mobile platform in one or more embodiments of the present application, in which part of the structure of the bearing member is hidden for the convenience of displaying the internal structure.

[0024] Figure 11 shows a structural schematic diagram of the front end of the mobile platform in one or more embodiments of the present application, in which the buffer member is hidden for the convenience of displaying the structure of the front end.

[0025] Figure 12 shows a bottom view of Figure 11.

[0026] Figure 13 shows a front view of Figure 11.

[0027] Figure 14 shows a structural schematic diagram of the bearing member of the mobile platform in one or more embodiments of the present application.

[0028] Figure 15 shows a structural schematic diagram of the bearing member of the mobile platform in one or more embodiments of the present application.

[0029] Figure 16 shows a bottom view of the mobile platform in one or more embodiments of the present application.

[0030] Figure 17 shows a structural schematic diagram of the buffer member of the mobile platform in one or more embodiments of the present application.

[0031] Figure 18A shows a structural schematic diagram of the cleaning system in a stair climbing working condition in one or more embodiments of the present application.

[0032] Figure 18B shows a structural schematic diagram of the cleaning system in a stair climbing working condition in one or more embodiments of the present application.

[0033] FIG. 18C shows a structural schematic diagram three of the cleaning system in a climbing stairs working condition in one or more embodiments of the present application.

[0034] FIG. 18D shows a structural schematic diagram four of the cleaning system in a climbing stairs working condition in one or more embodiments of the present application.

[0035] FIG. 18E shows a structural schematic diagram five of the cleaning system in a climbing stairs working condition in one or more embodiments of the present application.

[0036] FIG. 18F shows a structural schematic diagram six of the cleaning system in a climbing stairs working condition in one or more embodiments of the present application.

[0037] FIG. 18G shows a structural schematic diagram seven of the cleaning system in a climbing stairs working condition in one or more embodiments of the present application.

[0038] FIG. 18H shows a structural schematic diagram eight of the cleaning system in a climbing stairs working condition in one or more embodiments of the present application.

[0039] FIG. 18I shows a structural schematic diagram nine of the cleaning system in a climbing stairs working condition in one or more embodiments of the present application.

[0040] FIG. 19A shows a structural schematic diagram one of the cleaning system in a stair cleaning working condition in one or more embodiments of the present application.

[0041] FIG. 19B shows a structural schematic diagram two of the cleaning system in a stair cleaning working condition in one or more embodiments of the present application.

[0042] FIG. 19C shows a structural schematic diagram three of the cleaning system in a stair cleaning working condition in one or more embodiments of the present application.

[0043] FIG. 19D shows a structural schematic diagram four of the cleaning system in a stair cleaning working condition in one or more embodiments of the present application.

[0044] FIG. 19E shows a structural schematic diagram five of the cleaning system in a stair cleaning working condition in one or more embodiments of the present application.

[0045] FIG. 19F shows a structural schematic diagram six of the cleaning system in the stair cleaning working condition according to one or more embodiments of the present application. Label explanation: 100 - moving platform. 110 - carrier, 111 - translation base, 112 - carrying plate, 113 - mounting bracket, 114 - avoiding part, 115 - clamping groove, 116 - mounting hole. 120a - first lifting piece, 120b - second lifting piece, 121 - mounting part, 1211 - first sliding block, 1222 - first guide rail; 122 - support part, 1221 - second sliding block, 1222 - second guide rail; 123 - first driving part; 124 - lifting driving part, 1241 - moving piece, 12411 - screw rod, 12412 - nut, 1242 - scissor arm mechanism; 125 - slide rail, 1251 - first sliding part, 1252 - second sliding part. 130 - telescopic piece, 130a - first telescopic piece, 130b - second telescopic piece, 131 - second driving part, 132 - second transmission part, 1321 - gear, 1322 - rack, 133 - mounting frame. 140 - controller. 150 - distance detecting piece, 151 - micro switch, 1511 - contact, 152 - distance measuring sensor. 160 - buffer piece, 161 - avoiding hole, 162 - upper plate, 163 - lower plate, 164 - clamping hook. 170 - walking piece; 171 - first walking unit; 172 - second walking unit; 173 - first auxiliary wheel; 174 - second auxiliary wheel. 180 - elastic piece. 200 - cleaning equipment. 300 - cleaning system. 400 - stair, 410 - step surface. 500 - ground. DETAILED DESCRIPTION

[0046] In order for those skilled in the art to which the present application pertains to more clearly understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0047] In addition, reference numbers and / or reference letters can be repeated in different examples in the present application, and such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or arrangements discussed. In addition, the present application provides various specific examples of processes and materials, but those of ordinary skill in the art can realize the application of other processes and / or the use of other materials.

[0048] The functions of the cleaning device are generally limited to flat ground cleaning, and the use occasions are limited. In order to enable the cleaning device to be applied to stair cleaning or cleaning of different floors, the related technologies disclose many stair climbing devices, which support the cleaning device to move on the stairs through the stair climbing device. At present, the stability of the stair climbing device when moving on the stairs is poor, mainly reflected in the process of retracting the supporting legs of the stair climbing device after the main body of the stair climbing device reaches the step surface. In this process, due to the lack of supporting legs of the stair climbing device, the center of gravity is unstable, and unstable postures such as backward leaning and tilting may occur. The mechanical connection is usually not provided between the stair climbing device and the cleaning device, so that the cleaning device is not limited when driving into or driving out of the stair climbing device. When the stair climbing device is in an unstable posture, the cleaning device is easy to fall off the stair climbing device. It should be noted that the "step surface" is not limited to the step surface of the stairs or the surface of the high platform. As long as the surface has a certain height difference relative to the ground, the cleaning device cannot drive into the surface, which can be regarded as a "step surface".

[0049] In order to solve the problem of poor stability of the stair climbing device, the application provides a moving platform and a cleaning system, which independently move and asynchronously retract two lifting members, thereby improving the stability of the moving platform in the process of retracting the lifting members.

[0050] The specific technical solutions will now be described in detail with reference to the drawings, which are not necessarily drawn to scale. Similar or identical reference numerals can be used to designate similar or identical parts in different drawings. The use of similar or identical reference numerals in different drawings does not mean that all drawings including similar or identical reference numerals constitute a single or same embodiment. The drawings generally illustrate various embodiments discussed in the application in an exemplary and non-limiting manner.

[0051] The mobile platform can climb stairs to go upstairs or climb a high platform. That is, the mobile platform can switch from a first operation surface to a second operation surface. The first operation surface and the second operation surface are two entity surfaces with height difference where the mobile platform is currently located, which can be a step surface of a stair, a ground surface, a desktop surface, a platform surface of a high platform, etc. The entity surface located below is the first operation surface, i.e., the initial position of the mobile platform in the climbing process; the entity surface located above is the second operation surface, i.e., the target position of the mobile platform in the climbing process. For example, in the process of climbing stairs, the ground surface is the first operation surface when climbing the first step, and the step surface of the first step is the second operation surface; when climbing the second step, the step surface of the first step is converted into the first operation surface, and the step surface of the second step is the second operation surface. For another example, in the process of climbing onto a high platform, the ground surface is the first operation surface, and the platform surface of the high platform is the second operation surface. The first operation surface and the second operation surface can both be flat surfaces, but those skilled in the art can understand that operation surface N can also be a slope surface, an inclined surface, a concave-convex curved surface, etc., and the shape and setting direction of the operation surface are not limited in the present application.

[0052] It can be understood that the mobile platform can go upstairs or climb a high platform, and accordingly, the mobile platform can also go downstairs or move from the high platform to the ground. In the process of going downstairs, the step surface of the upper step is the first operation surface, and the step surface of the lower step is the second operation surface, which is exactly opposite to the determination method of the first operation surface and the second operation surface of the mobile platform in the process of going upstairs. In addition, in the process of going downstairs, the action mode of each component of the mobile platform is also opposite to that in the process of going upstairs. In short, the process of going downstairs of the mobile platform can be understood as the reverse of the process of going upstairs of the mobile platform.

[0053] It needs to be particularly pointed out that the following embodiments are described based on the mobile platform being applied to a stair scene and being in a climbing state for the convenience of the reader. For the convenience of understanding, the following explanations are made for the expressions of the directions in the present application: "forward" in the present application refers to the direction of movement of the mobile platform when going upstairs, which is parallel to the horizontal extension direction of the stairs, and the horizontal extension direction of the stairs corresponds to the X direction in the drawings. "Left" and "right" in the present application refer to one side and the other side along the width direction of the stairs, which can be understood as the direction of the left hand and the right hand when going upstairs, and the width direction of the stairs corresponds to the Y direction in the drawings. "Up" and "down" in the present application refer to the vertical extension direction of the stairs, i.e., the height direction, which corresponds to the Z direction in the drawings.

[0054] FIG. 1 is a structural schematic diagram of a mobile platform 100 according to an embodiment of the first aspect of the present application. Please refer to FIG. 1, the mobile platform 100 comprises a carrier 110, a first lifting member 120a, a second lifting member 120b, and an extension member 130. The carrier 110 is configured to support a cleaning device 200. The extension member 130 is connected to the carrier 110 and is retractable relative to the carrier 110. In other words, the extension member 130 is configured to drive the carrier 110 to move relative to a ground surface 500. The extension member 130 can be retracted to a position where the carrier 110 is located, for example, the extension member 130 can be retracted to the inside, above, or below the carrier 110. The position where the extension member 130 is retracted to the carrier 110 can be that the extension member 130 is completely overlapped with the carrier 110 after being retracted, for example, the extension member 130 is retracted to the position directly below the carrier 110 and is invisible from a top view. Alternatively, the extension member 130 can be only partially overlapped with the carrier 110 after being retracted, and the remaining part is exposed.

[0055] Please refer to FIG. 2A and FIG. 2B, which respectively show structural schematic diagrams of the mobile platform when climbing stairs in different embodiments. After the mobile platform 100 switches from a first operation surface to a second operation surface, the first lifting member 120a is raised relative to the extension member 130, the second lifting member 120b is raised relative to the extension member 130, and the extension member 130 is retracted to the carrier 110. Please refer to FIG. 2A and FIG. 2B, the first operation surface is the ground surface 500, and the second operation surface is a step surface 410 of the stairs 400. When the mobile platform 100 switches from the ground surface 500 to the step surface 410, the first lifting member 120a and the second lifting member 120b are raised relative to the extension member 130, respectively. It can be understood that the first lifting member 120a and the second lifting member 120b are raised relative to the extension member 130, respectively, is an action that occurs in the process of the mobile platform 100 switching from the ground surface 500 to the step surface 410, and cannot be interpreted as the first lifting member 120a and the second lifting member 120b are always raised relative to the extension member 130 in the process of the mobile platform 100 switching from the ground surface 500 to the step surface 410.

[0056] The first lifting member 120a and the second lifting member 120b are connected with the telescopic member 130 and can be respectively lifted relative to the telescopic member 130. In other words, the first lifting member 120a and the second lifting member 120b move independently of each other in the process of being lifted relative to the telescopic member 130, so that the first lifting member 120a and the second lifting member 120b can be lifted relative to the telescopic member 130 asynchronously, thereby achieving asynchronous contraction. When one of the first lifting member 120a and the second lifting member 120b is contracted by being lifted relative to the telescopic member 130, the other is still supported on the ground, which can stably support the mobile platform 100, so that the mobile platform 100 remains stable. Thus, the sudden change of the center of gravity of the mobile platform 100 caused by the first lifting member 120a and the second lifting member 120b leaving the ground 500 at the same time is avoided, and the mobile platform 100 is prevented from tilting or leaning backward, thereby improving the transfer safety of the cleaning device 200.

[0057] The first lifting member 120a and the second lifting member 120b can be asynchronously contracted, which can be understood as the process of the first lifting member 120a and the second lifting member 120b being lifted relative to the telescopic member 130 being asynchronous. As an optional embodiment, the first lifting member 120a and the second lifting member 120b can be alternately contracted. That is, after one of the first lifting member 120a and the second lifting member 120b is completely retracted, the other starts to contract, as shown in FIG. 2A. The first lifting member 120a of the mobile platform 100 shown in FIG. 2A has been completely retracted, and the second lifting member 120b is still supported on the ground 500, keeping the posture of the mobile platform 100 stable.

[0058] As another optional embodiment, the first lifting member 120a and the second lifting member 120b have different contraction start times, that is, the first lifting member 120a and the second lifting member 120b start to contract at different times. That is, after one of the first lifting member 120a and the second lifting member 120b starts to retract, the other starts to contract, as shown in FIG. 2B. The first lifting member 120a of the mobile platform 100 shown in FIG. 2B has started to be lifted relative to the telescopic member 130 and retracted, and the second lifting member 120b is still supported on the ground 500, keeping the posture of the mobile platform 100 stable.

[0059] As still another optional embodiment, the first lifting member 120a and the second lifting member 120b do not contract at the same speed, that is, the first lifting member 120a and the second lifting member 120b have different contraction speeds. Of course, in other embodiments, the first lifting member 120a and the second lifting member 120b can also have different contraction start times and contraction speeds. The specific implementation of the asynchronous contraction of the first lifting member 120a and the second lifting member 120b is not exhaustively listed here.

[0060] In some embodiments, the first lifting member 120a and the second lifting member 120b not only retract asynchronously, but also can extend asynchronously, that is, the first lifting member 120a and the second lifting member 120b act asynchronously. When the ground 500 is uneven or the ground 500 is inclined, the lower one of the first lifting member 120a and the second lifting member 120b can be controlled to extend, so that the carrier 110 as a whole still remains horizontal, stably supporting the cleaning device 200.

[0061] Please refer to FIG. 3, which shows a top view of the moving platform 100 in some embodiments. The first lifting member 120a and the second lifting member 120b are located on opposite sides of the carrier 110, specifically, are arranged on both sides of the carrier 110 along the width direction (Y direction in FIG. 3) of the stairs 400. When the carrier 110 supports the cleaning device 200 to move, the cleaning device 200 is arranged in the middle of the carrier 110, and the first lifting member 120a and the second lifting member 120b are arranged on both sides of the carrier 110, respectively. The first lifting member 120a and the second lifting member 120b can realize the left-right alternating reciprocating lifting stair climbing action, and the stability of the moving platform 100 is good.

[0062] Please refer to FIG. 3, in some embodiments, the first lifting member 120a is arranged on a first side of the carrier 110 along the width direction of the stairs 400, and the second lifting member 120b is arranged on a second side of the carrier 110 along the width direction of the stairs 400. The first lifting member 120a and the second lifting member 120b are symmetrically arranged, and the symmetry axis is parallel to the extension direction of the telescopic member 130. That is, the first lifting member 120a and the second lifting member 120b are symmetrically distributed relative to the center axis (axis in FIG. 3) of the carrier 110. The first lifting member 120a and the second lifting member 120b can jointly drive the carrier 110 to ascend, or extend on one side to keep the carrier 110 horizontal. The first lifting member 120a and the second lifting member 120b can retract asynchronously, improving the stability of the moving platform 100 during retraction.

[0063] Please refer to FIG. 3, in some embodiments, the telescopic member 130 includes a first telescopic member 130a and a second telescopic member 130b. The first telescopic member 130a is connected to the carrier 110 and the first lifting member 120a, and drives the carrier 110 and the first lifting member 120a to move relative to each other. The second telescopic member 130b is connected to the carrier 110 and the second lifting member 120b, and drives the carrier 110 and the second lifting member 120b to move relative to each other.

[0064] In some embodiments, the first telescopic member 130a and the second telescopic member 130b are arranged along the horizontal extension direction of the staircase 400 (X direction in FIG. 3). The first telescopic member 130a can drive the first lifting member 120a and the carrier 110 to move relative to each other along the horizontal extension direction of the staircase 400. The second telescopic member 130b can drive the second lifting member 120b and the carrier 110 to move relative to each other along the horizontal extension direction of the staircase 400. The first telescopic member 130a and the second telescopic member 130b can jointly drive the carrier 110 to translate forward relative to the first lifting member 120a and the second lifting member 120b.

[0065] In some embodiments, the first telescopic member 130a and the second telescopic member 130b are retracted asynchronously. That is, the first telescopic member 130a and the second telescopic member 130b jointly drive the carrier 110 to translate forward relative to the first lifting member 120a and the second lifting member 120b, and after the carrier 110 is translated to the position, the first telescopic member 130a and the second telescopic member 130b are retracted asynchronously. The specific implementation of the asynchronous retraction of the first telescopic member 130a and the second telescopic member 130b can refer to the content about the asynchronous retraction of the first lifting member 120a and the second lifting member 120b described above, which will not be repeated here.

[0066] Please refer to FIG. 3. In some embodiments, the first lifting member 120a and the second lifting member 120b are distributed on both sides of the carrier 110 along the width direction of the staircase 400, and the first telescopic member 130a and the second telescopic member 130b are respectively connected to the first lifting member 120a and the second lifting member 120b, and are also distributed on both sides of the carrier 110 along the width direction of the staircase 400. The first lifting member 120a and the first telescopic member 130a form the first leg 100a, as shown in FIG. 4; the second lifting member 120b and the second telescopic member 130b form the second leg 100b. The cleaning device 200 is placed on the carrier 110, and the first leg 100a and the second leg 100b are distributed on both sides of the carrier 110 along the width direction of the staircase 400. This arrangement makes the cleaning device 200 located between the first leg 100a and the second leg 100b, and the first leg 100a and the second leg 100b simulate the action of alternating legs climbing stairs, which has good stability.

[0067] The mobile platform 100 of the present application climbs up the stairs as follows. The first lifting member 120a and the second lifting member 120b jointly drive the carrier 110 to ascend to a position where the carrier 110 is level with the height of the step surface 410 of the next step. Then the first telescopic member 130a and the second telescopic member 130b jointly drive the carrier 110 that has been raised to the position to translate towards the stair 400 so as to be parked on the step surface 410 of the stair 400. After the first lifting member 120a, the second lifting member 120b, the first telescopic member 130a and the second telescopic member 130b are all retracted, the mobile platform 100 climbs up one step. The above-mentioned actions are repeated so that the mobile platform 100 climbs up step by step to realize the action of climbing up the stairs. The detailed working process of the mobile platform 100 when climbing up the stairs will be described in detail hereinafter. The actions of going down the stairs are the reverse of the actions of going up the stairs, and thus will not be described here.

[0068] When the first lifting member 120a and the second lifting member 120b are retracted, they are retracted towards the carrier 110 because the carrier 110 has been parked on the step surface 410 of the stair 400 and thus cannot descend. Similarly, when the first telescopic member 130a and the second telescopic member 130b are retracted, they are retracted towards the carrier 110 because the carrier 110 has been parked on the step surface 410 of the stair 400 and thus cannot descend under the action of friction.

[0069] Because the movements of the first lifting member 120a, the second lifting member 120b, the first telescopic member 130a and the second telescopic member 130b are independent of each other, the first lifting member 120a and the second lifting member 120b can be retracted alternately, and the first telescopic member 130a and the second telescopic member 130b can also be retracted alternately. For example, the first lifting member 120a is retracted first, and then the first telescopic member 130a is retracted. Then the second lifting member 120b is retracted, and then the first telescopic member 130a is retracted. In this way of action, the first leg 100a and the second leg 100b climb up the stairs alternately, as shown in FIGS. 5A and 5B. The mobile platform 100 can simulate the human left and right legs climbing up the stair 400 alternately, and thus has good movement stability.

[0070] Please refer to FIG. 5A, when the first leg 100a is retracted to the carrier 110 (the first lifting member 120a and the first telescopic member 130a are both retracted), the second leg 100b is still supported on the ground 500 or the next step surface 410, and the upper and lower surfaces can stably support the moving platform 100 since the carrier 110 is parked on the step surface 410 of the staircase 400 at this time. When the second lifting member 120b and the second telescopic member 130b are retracted, the mass of the equipment (including the carrier 110, the first lifting member 120a and the first telescopic member 130a) located on the step surface 410 of the staircase 400 is obviously greater than that of the second lifting member 120b and the second telescopic member 130b since the first lifting member 120a and the first telescopic member 130a have been retracted and are close to the carrier 110, so the moving platform 100 can still be stable when the second lifting member 120b and the second telescopic member 130b are retracted. Thus, the moving platform 100 is stable during the entire process of climbing the staircase 400. The cleaning equipment 200 is supported by the moving platform 100 and climbs the staircase 400 with the moving platform 100.

[0071] The carrier 110 is parked on the step surface 410 of the staircase 400, which is specifically manifested as that the front end of the carrier 110 is located on the step surface 410 of the staircase 400 and the rear end is supported by the first lifting member 120a and the second lifting member 120b. When the first lifting member 120a and the second lifting member 120b are both retracted and separated from the ground, the rear end of the carrier 110 is suspended, as shown in FIG. 5B. The center of gravity of the carrier 110 can be located at the front end, so that the carrier 110 can be stably parked on the step surface 410 of the staircase 400 when the rear end is suspended. Thus, the first lifting member 120a and the second lifting member 120b can be retracted at the same time, and correspondingly, the first telescopic member 130a and the second telescopic member 130b can be retracted at the same time.

[0072] In the moving platform 100, the first lifting member 120a and the second lifting member 120b can adopt the same structure or different structures, and the first telescopic member 130a and the second telescopic member 130b can adopt the same structure or different structures, which are not limited in the present application. The first lifting member 120a, the second lifting member 120b, the first telescopic member 130a and the second telescopic member 130b can adopt any one of a pneumatic cylinder, a hydraulic cylinder, an electric telescopic rod, a gear and rack driven by a motor, a screw and nut driven by a motor, a shearing arm assembly driven by a motor and a connecting rod mechanism driven by a motor. Of course, the first lifting member 120a, the second lifting member 120b, the first telescopic

[0073] For the reader's convenience, the first lifting member 120a will be described below as an example, and the description of the first lifting member 120a is also applicable to the second lifting member 120b unless otherwise specified.

[0074] Referring to FIGS. 6 and 7, the structure and full cross-sectional view of the first lifting member 120a in some embodiments are shown. The first lifting member 120a includes a lifting driving portion 124, a mounting portion 121, and a supporting portion 122. The mounting portion 121 is driven by the corresponding first telescopic member 130a or second telescopic member 130b to move relative to the carrier 110 in the front-back direction. Meanwhile, the mounting portion 121 serves as a mounting base, and the lifting driving portion 124 is connected to the mounting portion 121 to drive the supporting portion 122 to lift relative to the mounting portion 121. In the lifting direction, the mounting portion 121 moves together with the carrier 110, so that the ground clearance of the carrier 110 changes when the supporting portion 122 is lifted relative to the mounting portion 121 by the lifting driving portion 124.

[0075] In some embodiments, at least one of the mounting portion 121 and the supporting portion 122 is a hollow structure, so that the lifting driving portion 124 is located in the accommodation cavity 1201 formed by the mounting portion 121 and the supporting portion 122 when the lifting driving portion 124 is in the retracted state, as shown in FIG. 7. As an implementation, the mounting portion 121 and the supporting portion 122 are both covers, which are relatively buckled to form the accommodation cavity 1201.

[0076] As an implementation, referring to FIG. 7, the lifting driving portion 124 includes a moving member 1241 and a scissor arm mechanism 1242. The moving member 1241 is installed in the mounting portion 121, and the output portion of the moving member 1241 is hinged to at least one upper mounting point of the scissor arm mechanism 1242, and at least one lower mounting point of the scissor arm mechanism 1242 is movably connected to the supporting portion 122. The horizontal position of the output portion of the moving member 1241 is changed by the motor, so that the output portion drives at least one upper mounting point of the scissor arm mechanism 1242 to move, so that the opening angle of the scissor arm mechanism 1242 changes, and the greater the opening angle of the scissor arm mechanism 1242, the smaller the overall height of the scissor arm mechanism 1242. The scissor arm mechanism 1242 has the characteristics of large lifting stroke and small volume, and when the opening angle of the scissor arm mechanism 1242 approaches 180°, it can be completely accommodated in the space enclosed by the mounting portion 121 and the supporting portion 122.

[0077] In some embodiments, at least one of the first lifting member 120a and the second lifting member 120b is provided with a first driving part 123, which outputs power to drive the lifting driving part 124 to act. The first driving part 123 can simultaneously drive the lifting driving parts 124 of the first lifting member 120a and the second lifting member 120b via several transmission members, or a clutch can be provided to enable the two lifting driving parts 124 to act respectively. In some embodiments, the first lifting member 120a and the second lifting member 120b are both provided with the first driving part 123. Thus, the lifting driving parts 124 can independently act. As an optional embodiment, the first driving part 123 adopts an electric motor.

[0078] The moving part 1241 can be a gear rack, a screw nut, a belt transmission mechanism, etc., which is not limited in the present application. The output part of the moving part 1241 can be one, for example, a screw rod and a nut in threaded cooperation, and the nut is hinged to one of the upper mounting points of the scissor arm mechanism 1242. The output part of the moving part 1241 can also be two, for example, the screw rod is provided with double threads, and each thread segment is sleeved with a nut, and the two nuts move towards or in opposite directions, thereby adjusting the opening angle of the scissor arm mechanism 1242. The lifting mechanism shown in FIG. 7 adopts a screw nut as the moving part 1241, which has a self-locking function and can stably lift the carrier 110 to any height during the entire lifting stroke.

[0079] FIG. 7 shows a structural schematic diagram of the scissor arm mechanism 1242 in some embodiments, which includes two scissor arms 12421 hinged at the intersection, and the free ends of the two scissor arms 12421 are hinged points. For example, the upper ends of the two scissor arms 12421 form a first upper mounting point 1242a and a second upper mounting point 1242b of the scissor arm mechanism 1242, and the lower ends of the two scissor arms 12421 form a first lower mounting point 1242c and a second lower mounting point 1242d of the scissor arm mechanism 1242. Among them, the first upper mounting point 1242a is hinged to the mounting part 121, the second upper mounting point 1242b is hinged to the output part of the moving part 1241, the first lower mounting point 1242c is hinged to the support part 122, and the second lower mounting point 1242d is slidably arranged on the support part 122. That is, the first upper mounting point 1242a and the first lower mounting point 1242c are fixed hinged points, and the relative positions of the mounting part 121 and the support part 122 connected thereto are unchanged; the second upper mounting point 1242b and the second lower mounting point 1242d are movable hinged points, and the relative positions of the mounting part 121 and the support part 124 connected thereto are variable, thereby changing the opening angle of the scissor arm mechanism 1242.

[0080] In some embodiments, at least one of the mounting portion 121 and the support portion 122 is provided with a sliding mechanism, a sliding block of the sliding mechanism is hinged to the scissor arm mechanism 1242, so as to reduce the resistance when the scissor arm mechanism 1242 is opened, and make the extension and retraction of the lifting member more smooth. As an optional embodiment, the sliding mechanism adopts a sliding block and a guide rail in sliding fit, and the mounting portion 121 and the support portion 122 are both provided with the sliding mechanism.

[0081] Please refer to FIG. 7, in some embodiments, the mounting portion 121 is provided with a first sliding block 1211 and a first guide rail 1212 in sliding fit, the first sliding block 1211 is hinged to one of the upper mounting points of the scissor arm mechanism 1242, for example, the first sliding block 1211 is hinged to the second upper mounting point 1242b of the scissor arm mechanism 1242. The support seat 122 is provided with a second sliding block 1221 and a second guide rail 1222 in sliding fit, the second sliding block 1221 is hinged to one of the lower mounting points of the scissor arm mechanism 1242, for example, the second sliding block 1221 is hinged to the second lower mounting point 1242d of the scissor arm mechanism 1242.

[0082] In some embodiments, along the direction in which the carrier 110 translates relative to the first lifting member 120a and the second lifting member 120b, the first upper mounting point 1242a is located in front of the second upper mounting point 1242b, and the first lower mounting point 1242c is located in front of the second lower mounting point 1242d. FIG. 8 shows a structural schematic view of the first lifting member 120a and the second lifting member 120b in the raised state, it can be seen that when the first lifting member 120a and the second lifting member 120b are in the raised state, the first upper mounting point 1242a and the first lower mounting point 1242c do not change in position, while the second upper mounting point 1242b and the second lower mounting point 1242d move forward, so that the distance between the two upper mounting points 1242a, 1242b and the distance between the two lower mounting points 1242c, 1242d are both reduced, and the distance between the upper mounting points and the lower mounting points is increased. At this time, the support position of the moving platform 100 is located in the front portion thereof, which ensures that after the carrier 110 translates forward, the moving platform 100 as a whole still remains stable and will not tip over.

[0083] For the convenience of the reader, the first telescopic member 130a in some embodiments will be described below, and the description of the first telescopic member 130a is also applicable to the second telescopic member 130b unless otherwise specified.

[0084] Figure 9 shows a schematic diagram of the structure of the first telescopic member 130a in some embodiments. Please refer to Figure 9, the first telescopic member 130a comprises a second driving part 131 and a second transmission part 132, the second driving part 131 is installed on the carrier 110, the input part of the second transmission part 132 is in transmission connection with the second driving part 131, and the output part is fixedly connected with the corresponding first lifting member 120a or second lifting member 120b. In some embodiments, the second driving part 131 is installed on the carrier 110 through a mounting frame 133, the second driving part 131 is fixed in the mounting frame 133, and the mounting frame 133 is connected with the carrier 110 through threaded fasteners.

[0085] The second transmission part 132 comprises a gear 1321 and a rack 1322 in engagement, and the rack 1322 is connected to the corresponding first lifting member 120a or second lifting member 120b. Please refer to Figure 9, the rack 1322 is connected to the top of the corresponding first lifting member 120a or second lifting member 120b, specifically to the top surface of the mounting part 121, and the weight of the carrier 110 is used to make the rack 1322 and the gear 1321 stably engaged. In other embodiments, the rack 1322 can also be arranged at other positions of the corresponding first lifting member 120a or second lifting member 120b, such as the side surface. The rack 1322 can be an independent part, or the rack 1322 and the mounting part 121 can be arranged as an integrated structure, for example, the rack 1322 and the mounting part 121 are integrally formed by injection molding.

[0086] In order to realize the automatic operation of the mobile platform 100, a controller 140 and a distance detection member 150 for detecting the distance should also be arranged in the mobile platform 100, the controller 140 is installed on the carrier 110 and is electrically connected with the first lifting member 120a, second lifting member 120b, first telescopic member 130a, second telescopic member 130b and distance detection member 150. The distance detection member 150 is used to detect the horizontal distance and height difference between the mobile platform 100 and the stairs 400 and the ground, and the detection signal is transmitted to the controller 140, the controller 140 can determine the distance between the mobile platform 100 and the step, whether the carrier 110 is raised to the position, the displacement of the forward translation of the carrier 110, and then control whether the first lifting member 120a, second lifting member 120b, first telescopic member130a and second telescopic member 130b act and the specific action amount.

[0087] The detection units in the distance detection member 150 can adopt laser ranging sensors 152, ultrasonic ranging devices, visual recognition devices, etc., and the specific type is not limited in the present application. From the aspect of detection accuracy, the number of detection units in the distance detection member 150 should be as many as possible, and the distribution position should be as comprehensive as possible. The detection units can be installed on at least one of the carrier 110, the first lifting member 120a, and the second lifting member 120b. The specific content of the distance detection member 150 in some embodiments will be described below in combination with FIG. 11 and FIG. 12.

[0088] Please refer to FIG. 11, the distance detection member 150 includes micro switches 151 and a plurality of ranging sensors 152. The micro switch 151 belongs to a contact type detection device, which is arranged at the front end of the carrier 110 in the translation direction. When the carrier 110 is translated to the position where the contact of the micro switch 151 is touched, the micro switch 151 triggers a signal to the controller 140 to control the first telescopic member 130a and the second telescopic member 130b to stop working, so as to avoid the carrier 110 from colliding with the obstacle. The micro switch 151 can prevent the mobile platform 100 from continuing to move forward to collide with the obstacle in the case that the ranging sensor 152 fails or the obstacle is located outside the recognition area of the ranging sensor 152, so that the mobile platform 100 keeps a safe distance from the obstacle. The plurality of ranging sensors 152 all belong to non-contact detection devices, and the bottom surface, the top surface and the front end of the carrier 110, and the bottom surface of the first lifting member 120a and the second lifting member 120b are all provided with at least one ranging sensor 152.

[0089] Please refer to FIG. 11 and FIG. 12, which show the specific number and distribution position of the ranging sensors 152 in some embodiments. The ranging sensors 152 all adopt tof sensors (laser ranging sensors 152). The front end surface of the carrier 110 is arranged with four ranging sensors 152, two of which 152a are close to the upper corner of the end surface, and the remaining two 152b are close to the lower corner of the end surface, and the four ranging sensors 152 are distributed staggered in the width direction of the stairs 400. The four ranging sensors 152 of the end surface of the carrier 110 mainly detect the distance between the mobile platform 100 and the steps, and the two ranging sensors 152b close to the lower corner of the end surface can also detect whether there is an obstacle on the ground in front of the mobile platform 100. The top surface of the carrier 110 is arranged with two ranging sensors 152c, which are both close to the front end edge of the top surface, and can identify whether there is an object carried on the carrier 110.

[0090] Referring to FIG. 12, the bottom surface of the carrier 110 is provided with four ranging sensors 152, two of which, 152d, are located close to the front edge of the bottom surface, and the other two, 152e, are located in the middle of the bottom surface, specifically in the rear half of the carrier 110 in the X direction. The four ranging sensors 152 on the bottom surface of the carrier 110 mainly detect the height difference between the mobile platform 100 and the ground or the surface of the next step 410 to prevent the mobile platform 100 from falling. The bottom surface of each of the first lifting member 120a and the second lifting member 120b is provided with one ranging sensor 152f, which is located at the outer edge of the bottom surface of the first lifting member 120a and the second lifting member 120b and protrudes outward from the outer side of the first lifting member 120a and the second lifting member 120b, so as to identify in advance whether the mobile platform 100 is suspended on the side to prevent the mobile platform 100 from rolling over.

[0091] Since the ranging sensors 152 are all tof sensors, the laser emitted by the tof sensors cannot be blocked after installation, and therefore through holes 116 or outwardly open mounting grooves should be provided on the carrier 110 and the first lifting member 120a and the second lifting member 120b. In addition, the carrier 110 should also be provided with a mounting structure for fixing the controller 140. The specific structure of the carrier 110 in some embodiments will be described below with reference to FIGS. 13, 14 and 15.

[0092] Referring to FIG. 13, the carrier 110 adopts a split structure, including a translation base 111, a carrier plate 112 and a mounting bracket 113. The translation base 111 is the main body of the carrier 110; the carrier plate 112 is mounted on the translation base 111 and used to support the cleaning device 200; and the mounting bracket 113 is connected to the translation base 111 and used to mount the controller 140 and the detection units in the distance detection member 150. In order to reduce the weight, the translation base 111 is provided with a hollow structure having a plurality of cavities which can also serve as mounting spaces. The translation base 111 is provided with a plurality of through mounting holes 116 for mounting the ranging sensors 152. The upper surface of the carrier plate 112 is a flat plane which can stably park the cleaning device 200. In some embodiments, a plurality of limiting structures can also be provided on the carrier plate 112 to limit the travel wheels of the cleaning device 200 to prevent the cleaning device 200 from sliding due to inertia when the mobile platform 100 moves. The mounting bracket 113 is mainly used to mount the controller 140, and of course, the microswitch 151 and part of the ranging sensors 152 on the end surface of the carrier 110 can also be mounted on the mounting bracket 113.

[0093] The carrier 110 is used to support the cleaning device. In order to uniformly distribute the load, please refer to FIG. 14 and FIG. 15, in some embodiments, the carrier 110 is provided with a relief portion 114 on both sides in the width direction of the staircase 400, and the first lifting member 120a and the second lifting member 120b are respectively located in the corresponding relief portion 114. The first lifting member 120a, the second lifting member 120b and the carrier 110 have overlapping areas in the width direction of the staircase 400 and the horizontal extension direction of the staircase 400. The left and right ends of the carrier 110 are respectively arranged on the first lifting member 120a and the second lifting member 120b. The first lifting member 120a, the second lifting member 120b and the carrier 110 jointly bear the weight of the cleaning device.

[0094] The relief portion 114 can be a groove formed in the side portion of the carrier 110, or can be an inner recess provided in the bottom portion of both sides of the carrier 110, so as to form two recessed areas in the side portion of the carrier 110, which constitute the relief portion 114. In the embodiment in which the carrier 110 adopts a split structure, the relief portion 114 can be provided on the translation base 111, as shown in FIG. 14 and FIG. 15.

[0095] The first lifting member 120a and the second lifting member 120b can be completely covered by the carrier 110. In the mobile platform 100 shown in FIG. 13, the outer surfaces of the first lifting member 120a, the second lifting member 120b and the carrier 110 are flush, so that the mobile platform 100 as a whole is a cube, and only the carrier 110 can be seen from the top view, the appearance surface is flat, and it is more beautiful. In other embodiments, the first lifting member 120a and the second lifting member 120b can also be only partially covered by the carrier 110.

[0096] The first telescopic member 130a and the second telescopic member 130b drive the carrier 110 to translate. In order to improve the smoothness of movement, please refer to FIG. 13, in some embodiments, the first lifting member 120a and the second lifting member 120b are each provided with at least one sliding rail 125. The sliding rail 125 includes a first sliding portion 1251 and a second sliding portion 1252. The first sliding portion 1251 is connected to the corresponding first lifting member 120a or second lifting member 120b, and the second sliding portion 1252 is connected to the carrier 110. The sliding rail 125 improves the smoothness of movement on the one hand, and serves as the connection position of the first lifting member 120a and the second lifting member 120b with the carrier 110 on the other hand.

[0097] In the embodiment in which the avoiding portions 114 are arranged on both sides of the bearing member 110, the first lifting member 120a, the second lifting member 120b and the bearing member 110 have overlapping regions in the width direction of the staircase 400 and the horizontal extension direction of the staircase 400, and four slide rails 125 are arranged, as shown in FIG. 13. Two of the slide rails 125 are arranged at the top of the first telescopic member 130a and the second telescopic member 130b respectively, and the other two slide rails 125 are arranged at the inner side of the first telescopic member 130a and the second telescopic member 130b respectively. As shown in FIG. 15, two sets of fixing structures 117 are arranged on the side walls of the avoiding portions 114 of the bearing member 110, and are used to fixedly connect the second sliding portions 1252 of the slide rails 125.

[0098] In combination with FIG. 16, in some embodiments, the mobile platform 100 further comprises a buffer member 160, which is arranged at the front end of the bearing member 110. In order to avoid blocking the signals emitted by the distance measuring sensor 152, the buffer member 160 is provided with a plurality of avoiding holes 161 for avoiding the distance measuring sensor 152, and the avoiding holes 161 correspond one-to-one to the positions of the distance measuring sensor 152 on the front end face of the bearing member 110.

[0099] The buffer member 160 can be a part with certain elasticity, such as foam, spring pad, etc. In some embodiments, the mobile platform 100 further comprises a resilient member 180, which is arranged between the buffer member 160 and the bearing member 110 and acts on the buffer member 160 and the bearing member 110 at both ends, so as to realize the buffering effect by the elastic force of the resilient member 180.

[0100] The buffer member 160 is in contact with the contact 1511 of the micro switch 151. When the mobile platform 100 moves to a position where the buffer member 160 is in contact with an obstacle, the buffer member 160 touches the contact 1511 of the micro switch 151, the micro switch 151 triggers a signal to the controller 140, and the controller 140 controls the first telescopic member 130a and the second telescopic member 130b to stop working, so as to avoid the bearing member 110 from colliding with the obstacle. The gap between the buffer member 160 and the bearing member 110 serves as a safety buffer space of the mobile platform 100.

[0101] In view of the possible relative movement between the buffer member 160 and the bearing member 110, the connecting structure of the buffer member 160 and the bearing member 110 needs to not only ensure the stable connection between the buffer member 160 and the bearing member 110, but also allow the relative movement between the buffer member 160 and the bearing member 110. Therefore, a guide rail and slider mechanism or the like allowing relative sliding can be used, and a limiting structure is arranged at a necessary position to prevent the buffer member 160 from falling off.

[0102] Please refer to FIG. 14, FIG. 16 and FIG. 17, which show the structure of the sliding fit of the buffer 160 and the carrier 110 through the hooks 164 and the slots 115 in some embodiments. The buffer 160 is provided with the hooks 164, and the carrier 110 is provided with the slots 115 correspondingly. The hooks 164 are hung in the slots 115, which restrict the buffer 160 from being separated from the carrier 110. The hooks 164 and the slots 115 are in sliding fit in the translation direction of the carrier 110. The two ends of the slot 115 in the translation direction of the carrier 110 serve as two limiting positions. When the buffer 160 does not touch the obstacle, the hooks 164 are located at the first limiting position. When the buffer 160 is blocked by the obstacle and moves towards the carrier 110, it stops moving at the second limiting position. At this time, the buffer 160 and the carrier 110 still maintain a certain distance, which prevents the buffer 160 from excessively pressing the detection unit at the front end of the carrier 110.

[0103] In order to improve the installation stability of the buffer 160, the hooks 164 are provided in plurality and distributed on the upper edge and the lower edge of the buffer 160. In order to facilitate the installation of the buffer 160, please refer to FIG. 17, in some embodiments, the buffer 160 adopts a split structure, which includes the upper plate 162 and the lower plate 162. The upper plate 162 and the lower plate 162 are stacked together along the height direction and connected through the threaded fasteners.

[0104] According to the above description, the mobile platform 100 of the present application can actively identify the step height and width of the staircase 400 and automatically climb the staircase 400. Considering that part of the staircase 400 will also be provided with an intermediate platform, the mobile platform 100 should also have the function of walking on the plane.

[0105] Based on this, please refer to FIG. 16, in some embodiments, the mobile platform 100 further includes a walking piece 170, which is connected to at least one of the first lifting piece 120a, the second lifting piece 120b and the carrier 110 and electrically connected with the controller 140. The walking piece 170 is used to drive the mobile platform 100 to advance, retreat, turn, laterally translate, etc. The specific structure of the walking piece 170 can refer to the walking device of the sweeping robot.

[0106] Figure 16 shows the structure of the walking member 170 in some embodiments, which includes a first walking unit 171 and a second walking unit 172, the first walking unit 171 is used to drive the mobile platform 100 to move in the translation direction of the bearing member 110, the first walking unit 171 is installed in the bearing member 110, and the rollers thereof protrude from the bottom surface of the bearing member 110. During the forward translation of the bearing member 110 relative to the first lifting member 120a and the second lifting member 120b, the first walking unit 171 can not work, and only the rotation of the rollers reduces the friction between the bearing member 110 and the step surface 410. Of course, in other embodiments, the first walking unit 171 can also be operated synchronously during the forward translation of the bearing member 110, to assist in driving the bearing member 110 to translate forward.

[0107] The first walking unit 171 can be provided in plurality, and the mobile platform 100 shown in Figure 16 is configured with two first walking units 171. Both of the two first walking units 171 are installed in the middle part of the bearing member 110. In order to improve the anti-falling effect of the mobile platform 100, two distance measuring sensors 152e arranged on the bottom surface of the bearing member 110 should be located at the rear side of the two first walking units 171, as shown in Figure 16.

[0108] Correspondingly, please refer to Figure 16, in some embodiments, the bearing member 110 is provided with a first auxiliary wheel 173, which also protrudes from the bottom surface of the bearing member 110. The first auxiliary wheel 173 is configured to rotate in the translation direction of the bearing member 110, and rotates with the first walking unit 171 when the first walking unit 171 drives the mobile platform 100 to move. The first auxiliary wheel 173 is distributed in a triangular shape with the two first walking units 171, to stably support the mobile platform 100. It can be understood that in other embodiments, the first auxiliary wheel 173 can also be a universal wheel.

[0109] The second walking unit 172 is used to drive the mobile platform 100 to move in the width direction of the staircase 400, and the second walking unit 172 is installed on the first lifting member 120a and / or the second lifting member 120b. One second walking unit 172 can be provided on each of the first lifting member 120a and the second lifting member 120b, to improve the driving force of lateral translation. Please refer to Figure 16, the second walking unit 172 is located on the inner side of the first lifting member 120a and the second lifting member 120b, and the rollers thereof protrude from the bottom surface of the first lifting member 120a and the second lifting member 120b. If the mobile platform 100 has a large X-direction size, two second walking units 172 can be arranged in staggered distribution in the X-direction.

[0110] Correspondingly, please refer to FIG. 16, in some embodiments, the first lifting member 120a and the second lifting member 120b are each provided with a plurality of second auxiliary wheels 174, which protrude from the bottom surface of the first lifting member 120a and the second lifting member 120b. The second auxiliary wheels 174 are configured to rotate along the width direction of the staircase 400, and rotate with the second walking unit 172 when the second walking unit 172 drives the movement platform 100 to move. The second walking unit 172 and the corresponding plurality of second auxiliary wheels 174 are distributed in a triangular shape or a quadrilateral shape, to stably support the movement platform 100. It can be understood that, in other embodiments, the second auxiliary wheels 174 can also be universal wheels.

[0111] FIG. 16 shows the number and specific distribution position of the second auxiliary wheels 174 in an embodiment, in which the first lifting member 120a and the second lifting member 120b are each provided with 3 second auxiliary wheels 174, of which 2 second auxiliary wheels 174 are installed on the outer side of the first lifting member 120a or the second lifting member 120b, and the remaining 1 second auxiliary wheel 174 is installed on the inner side. To improve the anti-toppling effect of the movement platform 100, the ranging sensor 152 arranged on the bottom surface of the first lifting member 120a and the second lifting member 120b should be located at the rear side of the 2 second auxiliary wheels 174 on the outer side, and protrude from the second auxiliary wheels 174 along the Y direction or be flush with the second auxiliary wheels 174.

[0112] Please refer to FIG. 18A, the second aspect embodiment of the present application provides a cleaning system 300, which includes a cleaning device 200 and the movement platform 100 of any one of the embodiments of the first aspect described above, and the movement platform 100 supports the cleaning device 200 to move on the staircase 400. The cleaning device 200 can be a robot vacuum cleaner or an automatic sweeper, which is not limited by the present application. Since the cleaning device 200 is placed on the top surface of the movement platform 100, the movement platform 100 does not limit the size of the cleaning device 200, and the movement platform 100 can be adapted to different models of the robot vacuum cleaner, and has good compatibility.

[0113] The working process of the cleaning system 300 of an embodiment will be described in detail below with reference to the accompanying drawings. In this embodiment, the movement platform 100 has a controller 140, a microswitch 151, a plurality of ranging sensors 152, a first walking unit 171 and a second walking unit 172. The cleaning device 200 is a robot vacuum cleaner.

[0114] I. In combination with FIGS. 18A to 18I, the cleaning system 300 is in a staircase climbing working condition, and the specific working process is as follows:

[0115] 1.1, The mobile platform 100 advances with the cleaning device 200, and the distance measuring sensor 152 at the front end of the carrier 110 detects the distance between the mobile platform 100 and the steps of the stairs 400 in real time. When the distance reaches the set distance, the mobile platform 100 stops, as shown in FIG. 18A.

[0116] 1.2, The first lifting member 120a and the second lifting member 120b jointly drive the carrier 110 to ascend. During the ascending process, the distance measuring sensor 152 at the front end of the carrier 110 detects the distance between the mobile platform 100 and the steps of the stairs 400 in real time. When the carrier 110 ascends to the position where the bottom surface of the carrier 110 is flush with the step surface 410, the controller 140 controls the first lifting member 120a and the second lifting member 120b to stop, as shown in FIG. 18B.

[0117] 1.3, The first telescopic member 130a and the second telescopic member 130b jointly drive the carrier 110 to translate forward, and the carrier 110 and the cleaning device 200 jointly translate to the step surface 410, as shown in FIG. 18C. During this process, the distance measuring sensor 152 at the front end of the carrier 110 detects the distance between the mobile platform 100 and the steps of the stairs 400 in real time to avoid collision between the carrier 110 and the steps of the stairs 400.

[0118] 1.4, The first lifting member 120a retracts, as shown in FIG. 18D.

[0119] 1.5, The first telescopic member 130a reversely runs, so that the first lifting member 120a and the first telescopic member 130a jointly retract to the first side of the carrier 110, as shown in FIG. 18E.

[0120] 1.6, The second lifting member 120b retracts, as shown in FIG. 18F.

[0121] 1.7, The second telescopic member 130b reversely runs, so that the second lifting member 120b and the second telescopic member 130b jointly retract to the second side of the carrier 110, as shown in FIG. 18G. At this time, the mobile platform 100 and the cleaning device 200 climb up the first step.

[0122] 1.8, The above arrangement is repeated, and the mobile platform 100 and the cleaning device 200 climb up the last step. The first lifting member 120a and the second lifting member 120b jointly drive the carrier 110 to ascend. During the ascending process, the distance measuring sensor 152 at the front end of the carrier 110 detects the distance between the mobile platform 100 and the steps of the stairs 400 in real time. When the carrier 110 ascends to the position where the bottom surface of the cleaning device 200 is flush with the top ground of the stairs 400, the controller 140 controls the first lifting member 120a and the second lifting member 130b to stop, as shown in FIG. 18H.

[0123] 1.9, the cleaning device 200 drives into the top ground of the stairs 400, as shown in FIG. 18I, and the climbing is completed.

[0124] II. In combination with FIGS. 19A-19F, the cleaning system 300 is in the working condition of cleaning the stairs, and the specific working process is as follows:

[0125] 2.1, the mobile platform 100 carries the cleaning device 200 to move forward, and the distance sensor 152 located at the front end of the bearing 110 detects the distance between the mobile platform 100 and the steps of the stairs 400 in real time. When the set distance is reached, the mobile platform 100 stops, as shown in FIG. 19A.

[0126] 2.2, the first lifting member 120a and the second lifting member 120b jointly drive the bearing 110 to rise, and the distance sensor 152 located at the front end of the bearing 110 detects the distance between the mobile platform 100 and the steps of the stairs 400 in real time during the rising process. When the bearing 110 is detected to rise to the position where the bottom surface of the cleaning device 200 is flush with the step surface 410, the controller 140 controls the first lifting member 120a and the second lifting member 120b to stop, as shown in FIG. 19B.

[0127] 2.3, the cleaning device 200 drives into the step surface 410 and cleans the step surface 410, as shown in FIG. 19C.

[0128] It should be noted that if the X-direction size of the step surface 410 is too small and the cleaning device 200 cannot be stably placed on the step surface 410, the mobile platform 100 and the cleaning device 200 move synchronously along the Y-direction during the cleaning process, and at this time the mobile platform 100 acts as an extension of the step surface 410. When the mobile platform 100 moves along the Y-direction, the distance sensor 152 located at the bottom surface detects the distance between the mobile platform 100 and the ground below in real time, preventing the mobile platform 100 from tilting due to excessive lateral movement.

[0129] 2.4, after the cleaning device 200 finishes cleaning the step surface 410, it returns to the mobile platform 100, as shown in FIG. 19D.

[0130] 2.5, the first lifting member 120a and the second lifting member 120b jointly drive the bearing 110 to rise again, and the distance sensor 152 located at the front end of the bearing 110 detects the distance between the mobile platform 100 and the steps of the stairs 400 in real time during the rising process. When the bearing 110 is detected to rise to the position where its bottom surface is flush with the step surface 410, the controller 140 controls the first lifting member 120a and the second lifting member 120b to stop, as shown in FIG. 19E.

[0131] 2.6, the mobile platform 100 carries the cleaning device 200 to move to the current step surface 410, as shown in FIG. 19F.

[0132] 2.7 Repeat the above steps to clean the upper step surface 410 step by step until all step surfaces 410 are cleaned.

[0133] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0134] 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", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this application.

[0135] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0136] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0137] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0138] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and integrate different embodiments or examples described in the specification.

[0139] In addition, the technical solutions among various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor is it within the protection scope required by the present application.

[0140] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A mobile platform, comprising: Load-bearing components support the cleaning equipment; The telescopic component is connected to the load-bearing component; The first lifting component is connected to the telescopic component; as well as, The second lifting component is connected to the telescopic component. Wherein, after the mobile platform switches from the first operating surface to the second operating surface, the first lifting member rises relative to the telescopic member, the second lifting member rises relative to the telescopic member, and the telescopic member retracts into the supporting member. The height of the first operating surface from the ground is less than the height of the second operating surface from the ground.

2. The mobile platform according to claim 1, wherein, The first lifting member and the second lifting member rise asynchronously relative to the telescopic member.

3. The mobile platform according to claim 1, wherein, The first lifting component and the second lifting component are symmetrically arranged on the left and right sides of the forward direction of the bearing component.

4. The mobile platform according to claim 3, wherein, The carrier is provided with clearance portions on the left and right sides in the forward direction, and the first lifting member and the second lifting member rise to the corresponding clearance portions respectively.

5. The mobile platform according to any one of claims 1-4, wherein, The first lifting member and the second lifting member each include: The mounting part is connected to the telescopic component; A lifting drive unit is connected to the mounting unit; and, A support portion is connected to the lifting drive portion, and the support portion is driven by the lifting drive portion to rise and fall relative to the mounting portion.

6. The mobile platform according to claim 5, wherein, The lifting drive unit includes: A scissor arm mechanism, with its two ends respectively connected to the mounting portion and the support portion; and, The movable component is hinged to the free end of the scissor arm mechanism.

7. The mobile platform according to claim 6, wherein, The moving part includes a threaded lead screw and a nut, the nut being hinged to the free end of the scissor arm mechanism.

8. The mobile platform according to claim 5, wherein, At least one of the mounting portion and the support portion is provided with a sliding mechanism, and the slider of the sliding mechanism is hinged to the scissor arm mechanism.

9. The mobile platform according to claim 5, wherein, At least one of the mounting part and the support part is a hollow structure; when the lifting drive part is in the retracted state, it is located in the receiving cavity formed by the mounting part and the support part.

10. The mobile platform according to any one of claims 1-4, wherein, The telescopic component includes: A first telescopic member is connected to the carrier member and the first lifting member, and the first telescopic member drives the carrier member and the first lifting member to move relative to each other; and... The second telescopic member is connected to the carrier member and the second lifting member, and the second telescopic member drives the carrier member and the second lifting member to move relative to each other.

11. The mobile platform according to claim 10, wherein, The first telescopic component and the second telescopic component retract asynchronously.

12. The mobile platform according to any one of claims 1-4, further comprising: The slide rail allows both the first and second lifting components to slide in conjunction with the load-bearing component.

13. The mobile platform according to any one of claims 1-4, further comprising: The traveling component is connected to at least one of the first lifting component, the second lifting component, and the load-bearing component.

14. The mobile platform according to claim 13, wherein, The traveling component includes: A first walking unit is connected to the carrier, and the first walking unit drives the carrier to move along a first direction; The second traveling unit is connected to at least one of the first lifting member and the second lifting member, and the second traveling unit drives the carrier to move along a second direction; the first direction and the second direction are set at an angle.

15. The mobile platform according to claim 14, wherein, The traveling component also includes: A first auxiliary wheel is connected to the carrier, and the first auxiliary wheel rotates at least along the first direction; The second auxiliary wheel is connected to both the first and second lifting components, and the second auxiliary wheel rotates at least along the second direction.

16. The mobile platform according to claim 13, further comprising: A distance detection component is installed on at least one of the carrier, the first lifting component, and the second lifting component.

17. The mobile platform according to claim 16, wherein, The distance detection component includes: A micro switch is disposed at the front end of the carrier in the first direction; and, Several ranging sensors are distributed at least on the bottom surfaces of the support member, the first lifting member, and the second lifting member.

18. The mobile platform according to claim 16, further comprising: The controller is electrically connected to the first lifting component, the second lifting component, the telescopic component, the walking component, and the distance detection component.

19. The mobile platform according to claim 13, further comprising: A buffer element is connected to the carrier element, and the buffer element is located at the front end of the carrier element in the first direction.

20. The mobile platform according to claim 19, wherein, The buffer is slidably connected to the carrier, and the buffer moves relative to the carrier in a first direction.

21. A cleaning system comprising cleaning equipment and a mobile platform according to any one of claims 1-20, the mobile platform supporting the movement of the cleaning equipment.

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