Bearing device and cleaning system

Abstract

The present disclosure relates to the technical field of smart home, and provides a bearing device and a cleaning system. The bearing device comprises a main body portion and a fixing assembly. The main body portion comprises a bearing space, and the bearing space is used for bearing a cleaning device. The fixing assembly is mounted on the main body portion, and the fixing assembly can move between a first position and a second position so as to fix the cleaning device or release the cleaning device. The bearing device provided by the present disclosure can meet stair-climbing requirements, is stable and reliable during stair climbing, and is not prone to slipping.

Description

Loading equipment and cleaning system

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202510240284.X, filed on February 28, 2025, and Chinese Patent Application No. 202520346839.4, filed on February 28, 2025, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0003] This disclosure relates to the field of smart home technology, and more specifically, to a carrier device and cleaning system. Background Technology

[0004] With the widespread adoption of smart homes, robotic vacuum cleaners have become an essential tool for household cleaning. However, traditional robotic vacuum cleaners, limited by their mobility, struggle to handle cleaning challenges in multi-story environments such as duplexes and villas. Furthermore, everyday scenarios involving moving heavy objects and overcoming obstacles place higher demands on the mobility of automated equipment. While some related technologies can achieve simple support and stair-climbing functions, they generally suffer from complex structures and poor adaptability, making it difficult to meet practical application needs.

[0005] 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. Summary of the Invention

[0006] The purpose of this disclosure is to provide a carrier device and a cleaning system.

[0007] According to one aspect of this disclosure, a carrier device is provided, comprising:

[0008] The main body includes a support space for supporting cleaning equipment;

[0009] A fixing component is mounted on the main body and is movable between a first position and a second position to fix or loosen the cleaning device.

[0010] In one exemplary embodiment, the fixing component is located on the main body near the opening of the bearing space.

[0011] In one exemplary embodiment, the fixing component includes a driving component and a pressing member, the driving component being configured to drive the pressing member to switch between a first position and a second position; when the pressing member is in the first position, it can confine the cleaning device in a carrying space, and when the pressing member is in the second position, the cleaning device can enter and exit the carrying space.

[0012] In one exemplary embodiment disclosed, the fixing component includes two pressing members, and the driving component drives the two pressing members to move toward each other to clamp the cleaning device in the first position or to move away from each other to release the cleaning device in the second position.

[0013] In one exemplary embodiment, the pressing member is provided with a clamping structure that can clamp onto the top and side surfaces of the cleaning device.

[0014] In one exemplary embodiment disclosed, the drive assembly includes a driver and a transmission assembly, the driver driving the two pressing members to move toward or away from each other via the transmission assembly.

[0015] In one exemplary embodiment disclosed, the fixing component further includes a first position detector and a second position detector, wherein the pressing member triggers the first position detector when it is in the second position, and the pressing member triggers the second position detector when it is in the first position.

[0016] In one exemplary embodiment disclosed, the first position detector and / or the second position detector are trigger-type detectors.

[0017] In one exemplary embodiment disclosed, the fixing component further includes a cam and a transmission member, wherein the cam can drive the pressing member to switch between the first position and the second position via the transmission member.

[0018] In one exemplary embodiment, the fixing assembly further includes a guide rod and an elastic element. One end of the guide rod is connected to the main body, the transmission element is slidably connected to the guide rod, and the elastic element is sleeved on the guide rod. The cam compresses the elastic element through the transmission element, thereby driving the pressing element to the first position.

[0019] In one exemplary embodiment disclosed, the fixing assembly includes two sets of the guide rods, the elastic element, and the pressing element.

[0020] In one exemplary embodiment, the transmission member is provided with a boss, and the cam drives the transmission member to move through the boss.

[0021] In one exemplary embodiment disclosed, the bottom of the carrying space is provided with a tray for carrying cleaning equipment.

[0022] According to another aspect of this disclosure, a cleaning system is provided, comprising:

[0023] Cleaning equipment;

[0024] The aforementioned carrier device is used to dock with the cleaning equipment.

[0025] In one exemplary embodiment disclosed, the cleaning device includes a drive wheel assembly, the drive wheel assembly including a gearbox and a drive wheel connected to the gearbox;

[0026] The bottom of the carrying space is provided with a tray. When the cleaning equipment enters the carrying space and is located on the tray, the gearbox can be rotated toward the side of the equipment body through the tray.

[0027] In one exemplary embodiment, the cleaning device and the main body are provided with a positioning detection unit and a positioning sensor, respectively; when the cleaning device moves into the carrying space, the positioning detection unit triggers the positioning sensor.

[0028] The carrier device provided in this disclosure uses fixing components to fix the cleaning equipment after it enters the carrier space, which improves the stability of the cleaning equipment in the carrier space and reduces the shaking of the cleaning equipment during the process of the stair climber carrying the cleaning equipment up the stairs.

[0029] 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

[0030] 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.

[0031] Figure 1 is a schematic diagram of a cleaning device provided in one embodiment of the present disclosure.

[0032] Figure 2 is a schematic diagram of a cleaning device provided in one embodiment of the present disclosure.

[0033] Figure 3 is a schematic diagram of a cleaning system provided in one embodiment of the present disclosure.

[0034] Figures 4 to 7 are schematic diagrams illustrating the process of a carrying device driving a cleaning device to climb a step according to an embodiment of this disclosure.

[0035] Figure 8 is a partial open view of a carrier device provided in an embodiment of this disclosure.

[0036] Figure 9 is a schematic diagram of a fixing component in a second position according to an embodiment of the present disclosure.

[0037] Figure 10 is a schematic diagram of the pressing member in the second position according to an embodiment of the present disclosure.

[0038] Figure 11 is a schematic diagram of a fixing component in a first position according to an embodiment of the present disclosure.

[0039] Figure 12 is a schematic diagram of the pressing member in the first position according to an embodiment of the present disclosure.

[0040] Figure 13 is a schematic diagram of the fixing component in a second position according to another embodiment of the present disclosure.

[0041] Figure 14 is a schematic diagram of the fixing component in a first position according to another embodiment of the present disclosure.

[0042] Figure 15 is a schematic diagram of a transmission component provided in an embodiment of the present disclosure, which is provided with a boss.

[0043] Figure 16 is a schematic diagram of a pallet lifting gearbox provided in one embodiment of this disclosure. 10. Bearing device; 110. Main body; 111. Bearing space; 112. Opening; 113. Housing; 114. Main frame; 115. Pallet; 120. Support member; 130. Drive assembly; 131. Driver; 132. Linkage rod; 140. Walking wheel assembly; 150. Fixing assembly; 151. Driver; 152. Pressing member; 1520. Clamping structure; 153. Transmission assembly; 154. Mounting box; 1551. First position detector; 1552. Second position detector; 1561. Cam; 1562. Transmission member; 15620. Boss; 1563. Elastic member; 1564. Guide rod; 20. Cleaning device; 210. Device body; 220. Drive wheel; 230. Gearbox; 30. Base station. Detailed Implementation

[0044] 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.

[0045] 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.

[0046] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0047] This disclosure provides a cleaning system, as shown in Figures 1 and 2. The cleaning system includes a cleaning device and a supporting device 10. The cleaning device includes a cleaning unit 20. The cleaning unit 20 can be, for example, a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop combo. The cleaning unit 20 may include a device body 210, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. Furthermore, as shown in Figure 3, the cleaning system may also include a base station 30, which is used to dock with the cleaning unit 20, i.e., to park the cleaning unit 20. The cleaning unit 20 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the base station 30.

[0048] In one embodiment, the device body 210 is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 20. If the cleaning device 20 is a sweeping and mopping robot, then the cleaning device 20 operates on the ground.

[0049] In one embodiment, the drive module includes a drive wheel assembly. The drive module can control both the left and right wheels simultaneously. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body 210.

[0050] In one embodiment, to enable the automatic cleaning device 20 to move more stably or with greater mobility on the ground, the automatic cleaning device 20 may include one or more steering wheels; wherein, the steering wheels may be driven wheels or driving wheels, and their structural forms include, but are not limited to, casters, and the steering wheels may be located in front of the driving wheel assembly. A drive motor provides power to the driving wheel assembly and / or the steering wheels.

[0051] In one embodiment, the sensing module includes a position determination device located above the device body 210, a buffer located on the forward portion of the device body 210, and a cliff sensor and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, and other sensing devices located at the bottom of the device body 210, providing the control module with various position and motion state information of the device body 210. For example, the forward portion of the device body 210 is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 20 to walk on the ground, the buffer detects one or more objects in the travel path of the cleaning device 20 via a sensor module, such as a collision sensor. The cleaning device 20 can pass through the objects detected by the collision sensor, such as steps, obstacles, or walls, and the control drive structure causes the cleaning device 20 to respond to the objects, such as climbing steps. Climbing includes moving from a lower surface to a higher surface and / or from a higher surface to a lower surface.

[0052] In one embodiment, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 20 work more in line with user requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 20.

[0053] In one embodiment, the energy module includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit is charged by connecting to a charging station via charging electrodes located on the side or bottom of the unit.

[0054] In one embodiment, the human-machine interaction module includes buttons on the main unit panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available function options to the user; and it may also include a mobile client application. For path navigation type cleaning equipment 20, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0055] In one embodiment, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a cleaning head, a water tank, etc.

[0056] In one embodiment, as shown in FIG1, the supporting device 10 includes a main body 110, which includes a main frame 114 and a housing 113. The housing 113 and the main frame 114 form a supporting space 111. The main frame 114 has an opening 112. The cleaning device 20 can be disposed in the supporting space 111 through the opening 112. The supporting device 10 can, for example, drive the cleaning device 20 up stairs through the supporting space 111. Hereinafter, with reference to FIG4 to FIG8, an example will be given of the supporting device 10 driving the cleaning device 20 up stairs from the third surface c to the second surface b, to illustrate how the supporting device 10 drives the cleaning device 20 up stairs through the supporting space 111.

[0057] As shown in Figure 4, when the cleaning device 20 enters the carrying space 111 of the carrying device 10, after the carrying device 10 receives the climbing command, the walking wheel assembly 140 guides the carrying device 10 to move towards the stairs. When the collision component set in front of the main body 110 contacts the side of the step and begins to climb the stairs, the driver 131 of the drive assembly 130 rotates forward to drive the transmission component to move. The transmission component drives the connecting rod 132 to move. The connecting rod 132 rotates with the connection point with the main body 110 as the rotation point, driving the support member 120 to move forward and downward, so that the support member 120 contacts the third surface a. The driver 131 continues to rotate forward. Since the support member 120 has already contacted the third surface a, the support member 120 cannot continue to move. Under the reaction force of the third surface a, the connecting rod 132 rotates with the connection point with the support member 120 as the rotation point. The main body 110 is lifted by the connecting rod 132, so that the main body 110 moves forward and upward, moving to the second surface b.

[0058] Next, as shown in Figure 5, after the main body 110 moves to the second surface b, the walking wheel assembly 140 moves down and supports itself on the third surface a. Next, as shown in Figure 6, the driver 131 rotates forward, and the connecting rod 132 drives the support member 120 to move upward and forward, causing the support member 120 to move to the second surface b. Next, as shown in Figure 7, the walking wheel assembly 140 retracts to the main body 110, completing the climbing action from the third surface a to the second surface b.

[0059] It is understandable that the specific process of moving from the second surface b to the first surface c is the same as the principle of moving from the third surface a to the second surface b.

[0060] As shown in Figure 6, after the main body 110 moves to the second surface b, the walking wheel assembly 140 moves downward and supports itself on the third surface a. The driver 131 rotates forward, and the connecting rod 132 drives the support member 120 to move upward and forward, causing the support member 120 to move to the second surface b. The walking wheel assembly 140 rotates, causing the main body 110 to move laterally left and right on the second surface b, which in turn drives the support member 120 to move laterally left and right on the second surface b. Therefore, the support member 120 can be used to scrape dust from the second surface b. After the dust scraping is completed, the walking wheel assembly 140 returns to its original position.

[0061] Because opening 112 is relatively large, allowing cleaning equipment 20 to enter and exit the carrying space 111, and during the climbing process, the carrying equipment 10 will undergo complex movements in multiple directions such as forward and backward, it may cause the cleaning equipment 20 to sway within the carrying space 111, or even detach from the carrying space 111 through opening 112. Therefore, it is necessary to ensure that the cleaning equipment 20 is stably positioned within the carrying space 111.

[0062] As shown in Figures 8 to 12, the carrier device 10 includes a fixing component 150, which is mounted on the main frame 114 of the main body 110. The fixing component 150 can move between a first position and a second position. When the fixing component 150 is in the first position, it can limit the cleaning device 20 in the carrier space 111. When the fixing component 150 is in the second position, the cleaning device 20 can enter and exit the carrier space 111.

[0063] After the cleaning equipment 20 enters the carrying space 111, the fixing component 150 fixes the cleaning equipment 20, which improves the stability of the cleaning equipment 20 in the carrying space 111 and reduces the shaking of the cleaning equipment 20 during the process of the stair climber carrying the cleaning equipment 20 up the stairs.

[0064] In one embodiment, as shown in Figures 8 to 12, the fixing component 150 is disposed near the opening 112 of the bearing space 111. By disposing the fixing component 150 near the opening 112, the cleaning device 20 is fixed from the front, which reduces the possibility of the cleaning device 20 sliding out of the opening 112 and improves the stability of the cleaning device 20 in the bearing space 111.

[0065] In one embodiment, as shown in Figures 10 and 12, the fixing component 150 includes a driving component and a pressing member 152. The driving component is configured to drive the pressing member 152 to switch between a first position and a second position. When the pressing member 152 is in the first position, it can limit the cleaning device 20 in the bearing space 111. When the pressing member 152 is in the second position, the cleaning device 20 can enter and exit the bearing space 111. That is, the pressing member 152 can limit the cleaning device 20 in the bearing space 111 and prevent it from sliding out of the bearing space 111.

[0066] In one embodiment, as shown in Figures 9 to 12, the fixing component 150 includes two pressing members 152. The driving component drives the two pressing members 152 to move toward each other to fix the cleaning device 20 in a first position or to move away from each other to release the cleaning device 20 in a second position.

[0067] The cleaning device 20 can be fixed or released by driving the two pressing parts 152 to move towards or away from each other via the drive assembly. When the cleaning device 20 moves into the carrying space 111, the drive assembly activates, driving the two pressing parts 152 to move closer to each other, gradually reducing the distance between them and fixing the cleaning device 20. If the cleaning device 20 needs to be moved out of the carrying space 111 after climbing or descending the stairs, the drive assembly reverses, driving the two pressing parts 152 to move away from each other, gradually increasing the distance between them and releasing the cleaning device 20, allowing it to be removed from the carrying space 111.

[0068] In one embodiment, as shown in Figures 10 and 12, the pressing member 152 is provided with a clamping structure 1520. When clamping the cleaning device 20, the clamping structure 1520 can be fixed to the top and side surfaces of the cleaning device 20. By providing the clamping structure 1520 on the portion of the pressing member 152 that contacts the cleaning device 20, the pressing member 152 can apply abutting forces to the cleaning device 20 in multiple directions, thereby improving the stability of the cleaning device 20. For example, when the pressing member 152 clamps the cleaning device 20, it simultaneously abuts against the top and side surfaces of the cleaning device 20, thereby forming a stable fixing force on the cleaning device 20.

[0069] In one embodiment, as shown in Figures 10 and 12, the drive assembly includes a driver 151 and a transmission assembly 153. The driver 151 drives two pressing members 152 to move towards or away from each other via the transmission assembly 153. The drive assembly can be mounted on the main body 110 via a fixed bracket. The driver 151 can be a drive motor, and the transmission assembly 153 can be a transmission gear set. The pressing members 152 are connected to the transmission gear set to rotate under forward or reverse drive of the drive motor, so as to be in a first position and a second position.

[0070] The transmission gear set may include two meshing drive gears, and the driven gear connected to the pressure member 152 may be an integral part of the pressure member 152. The two driven gears mesh with the two drive gears respectively. The drive motor drives one of the drive gears, which in turn drives the other drive gear to rotate. Thus, under the drive of the drive motor, the two pressure members 152 move towards or away from each other to fix or loosen the cleaning device 20.

[0071] In one embodiment, the fixing component 150 further includes a mounting box 154, in which the drive component is disposed, and at least a portion of the pressing member 152 extends out of the mounting box 154. This provides protection for part of the drive component, preventing sewage, dust, etc., from entering the drive component, such as into the gear set or bearings, and affecting the performance and lifespan of the drive component.

[0072] In one embodiment, as shown in Figures 10 and 12, the fixing component 150 further includes a first position detector 1551 and a second position detector 1552. The first position detector 1551 is triggered when the pressing member 152 is in the second position, and the second position detector 1552 is triggered when the pressing member 152 is in the first position. The first position detector 1551 detects the state where the pressing member 152 releases the cleaning device 20, and the second position detector 1552 detects the state where the pressing member 152 fixes the cleaning device 20, thus realizing the determination of the positioning of the pressing member 152.

[0073] The first position detector 1551 and the second position detector 1552 can be disposed on both sides of the same pressing member 152, or they can be disposed on both sides of two pressing members 152 respectively, or the first position detector 1551 and the second position detector 1552 can be disposed on both the upper and lower sides of the two pressing members 152.

[0074] The first position detector 1551 and / or the second position detector 1552 are trigger-type detectors, such as microswitches or switches with elastic on / off keys, or photoelectric position detectors. This disclosure does not limit them.

[0075] In one embodiment, the carrying device 10 further includes a controller, which is connected to the first position detector 1551 and the second position detector 1552. When the first position detector 1551 is triggered, it outputs a first position signal, or when the second position detector 1552 is triggered, it outputs a second position signal. The controller controls the driver 151 to stop driving according to the first position signal or the second position signal, thereby realizing the position auxiliary judgment of driving the pressing member 152 to move.

[0076] In one embodiment, one of the cleaning device 20 and the main body 110 is provided with a positioning detection unit, and the other is provided with a positioning sensor. When the cleaning device 20 moves into the carrying space 111, the positioning detection unit triggers the positioning sensor. After the cleaning device 20 enters the carrying space 111, the positioning detection unit triggers the positioning sensor, indicating that the cleaning device 20 has moved into position. The drive assembly of the pressing member 152 then starts to drive the two pressing members 152 to move closer to each other, so that the distance between the two pressing members 152 gradually decreases until the pressing member 152 triggers the second position detector 1552, and the drive assembly stops driving. After climbing the stairs, when the cleaning device 20 needs to move out of the carrying space 111, the drive assembly drives the two pressing members 152 to move away from each other, so that the distance between the two pressing members 152 gradually increases until the pressing member 152 triggers the first position detector 1551, the drive assembly stops driving, and the cleaning device 20 moves out of the carrying space 111 through the opening 112. The positioning detection unit can be a structure that triggers the positioning sensor installed on the cleaning device 20 or the main body 110, or it can be an existing structure on the cleaning device 20 or the main body 110 itself, that is, the positioning sensor can be triggered by the cleaning device 20 or the main body 110 itself.

[0077] In one embodiment, as shown in Figures 13 and 14, the fixing assembly 150 further includes a cam 1561 and a transmission member 1562. The cam 1561, through the transmission member 1562, can drive the pressing member 152 to switch between a first position and a second position. Specifically, the driver 151 of the driving assembly can drive the cam 1561 to rotate to a first rotational position and a second rotational position. When the cam 1561 is in the first rotational position, it drives the transmission member 1562 to a third position, and the transmission member 1562 drives the pressing member 152 to the second position. When the cam 1561 is in the second rotational position, it drives the transmission member 1562 to a fourth position, and the transmission member 1562 drives the pressing member 152 to the first position. By cooperating with the driver 151, the cam 1561 drives the transmission member 1562, thereby driving the pressing member 152, resulting in high structural reliability.

[0078] As shown in Figures 13 and 14, the fixing assembly 150 further includes a guide rod 1564 and an elastic element 1563. One end of the guide rod 1564 is connected to the main body 110. The transmission element 1562 is slidably connected to the guide rod 1564, and the elastic element 1563 is sleeved on the guide rod 1564. The cam 1561 and the transmission element 1562 are driven by abutment. When the cam 1561 is in the first rotational position, the elastic element 1563 is configured to enable the transmission element 1562 to be in the third position through an initial elastic force. The transmission element 1562 drives the pressing element 152 to be in the second position. When the cam 1561 rotates toward the second rotational position to compress the transmission element 1562 to move toward the fourth position, the transmission element 1562 compresses the elastic element 1563, and the transmission element 1562 drives the pressing element 152 to be in the first position. The elastic element 1563 can be a spring, which is sleeved on the guide rod 1564.

[0079] As shown in Figures 13 and 14, the fixing assembly 150 includes two sets of guide rods 1564, elastic elements 1563, and pressing elements 152, forming a limit from both sides of the cleaning device 20. Of course, more sets can be provided as needed, and this disclosure does not limit this.

[0080] In one embodiment, as shown in FIG15, the transmission member 1562 is provided with a boss 15620, and the cam 1561 drives the transmission member 1562 to move through the boss 15620. The driver 151 drives the cam 1561 to contact the boss 15620 and squeeze the boss 15620, thereby driving the transmission member 1562 to move toward the fourth position. The transmission member 1562 compresses the elastic member 1563, driving the pressing member 152 to the first position. The driver 151 drives the cam 1561 to rotate in the opposite direction, the cam 1561 removes the downward squeezing force on the boss 15620, and the transmission member 1562 moves upward to the third position under the action of the elastic member 1563. The transmission member 1562 drives the pressing member 152 to the second position. In this way, by driving the cam 1561 to rotate, the limiting and releasing of the cleaning device 20 are realized.

[0081] In one embodiment, as shown in FIG16, the cleaning device 20 includes a device body 210 and a drive wheel assembly. The drive wheel assembly includes a gearbox 230 and a drive wheel 220 connected to the gearbox 230. The gearbox 230 is rotatably connected to the device body 210. A tray 115 is provided at the bottom of the carrying space 111. When the cleaning device 20 enters the carrying space 111 and is located on the tray 115, the tray 115 abuts against the gearbox 230, which suspends the drive wheel 220. Since the gearbox 230 is elastically rotatably connected to the device body 210, the tray 115 can drive the gearbox 230 to rotate towards the device body 210 by a preset angle. That is, the tray 115 lifts the drive wheel assembly of the cleaning device 20, so that the drive wheel assembly can maintain a sufficient distance from the ground when it is located in the carrying space 111. This prevents the drive wheel 220 from getting stuck due to being too low during stair climbing, ensuring that the drive wheel 220 interferes less with the stairs during stair climbing and is easier to enter the stairs.

[0082] In one exemplary embodiment of this disclosure, the supporting device 10 may further include a distance sensor. The distance sensor is disposed at the bottom of the supporting space 111 and located on the side of the chassis of the cleaning device 20 closest to the ground. The distance sensor can be used to detect the distance between the chassis of the cleaning device 20 and the ground. For example, the sensor may be a cliff sensor, which can monitor the distance between the chassis of the cleaning device 20 and the ground.

[0083] In one exemplary embodiment of this disclosure, the supporting device 10 may further include a controller connected to a cliff sensor. When the cliff sensor detects that the distance between the chassis of the cleaning device 20 and the ground is less than or equal to a preset distance, the cliff sensor may send an electrical signal to the controller, which may then control the driver 151 to stop based on the electrical signal. For example, the cliff sensor may monitor the distance between the chassis of the cleaning device 20 and the ground in real time, and when the distance between the chassis of the cleaning device 20 and the ground decreases to less than or equal to a preset distance (i.e., a safe distance threshold), the cliff sensor will immediately respond by converting the detected signal into an electrical signal and transmitting the electrical signal to the controller.

[0084] Upon receiving an electrical signal, the controller immediately activates its built-in logic judgment program. It then analyzes and processes the received signal according to preset algorithms and parameters. If the judgment indicates that the distance between the chassis and the ground has reached or fallen below a safe threshold, the cleaning equipment 20 is determined to be secured. The controller will then quickly issue a command to stop the second motor, thereby protecting it.

[0085] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application 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 carrying device, comprising: The main body includes a support space for supporting cleaning equipment; A fixing component is mounted on the main body and is movable between a first position and a second position to fix or loosen the cleaning device.

2. The bearing device as described in claim 1, wherein, The fixing component is located on the main body near the opening of the bearing space.

3. The bearing device as described in claim 1, wherein, The fixing component includes a driving component and a pressing member, the driving component being configured to drive the pressing member to switch between the first position and the second position; When the pressing member is in the first position, it can limit the cleaning equipment in the bearing space. When the pressing member is in the second position, the cleaning equipment can enter and exit the bearing space.

4. The bearing device as described in claim 3, wherein, The fixing component includes two pressing members, and the driving component drives the two pressing members to move toward each other to clamp the cleaning device in the first position or to move away from each other to release the cleaning device in the second position.

5. The bearing device as described in claim 4, wherein, The pressing component is provided with a clamping structure, which can clamp the top and side surfaces of the cleaning equipment.

6. The bearing device as described in claim 4, wherein, The drive assembly includes a driver and a transmission assembly, wherein the driver drives the two pressing members to move toward or away from each other through the transmission assembly.

7. The bearing device as described in claim 6, wherein, The fixing component further includes a first position detector and a second position detector. When the pressing member is in the second position, it triggers the first position detector, and when the pressing member is in the first position, it triggers the second position detector.

8. The bearing device as described in claim 7, wherein, The first position detector and / or the second position detector are trigger-type detectors.

9. The bearing device as described in claim 3, wherein, The fixing component also includes a cam and a transmission component, wherein the cam can drive the pressing component to switch between the first position and the second position via the transmission component.

10. The bearing device as claimed in claim 9, wherein, The fixing assembly also includes a guide rod and an elastic element. One end of the guide rod is connected to the main body. The transmission element is slidably connected to the guide rod. The elastic element is sleeved on the guide rod. The cam compresses the elastic element through the transmission element, which can drive the pressing element to the first position.

11. The bearing device as claimed in claim 10, wherein, The fixing assembly includes two sets of guide rods, the elastic element, and the pressing element.

12. The bearing device as claimed in claim 10, wherein, The transmission component is provided with a boss, and the cam drives the transmission component to move through the boss.

13. The bearing device as claimed in claim 1, wherein, The bottom of the carrying space is provided with a tray for carrying cleaning equipment.

14. A cleaning system, comprising: Cleaning equipment; The carrier device according to any one of claims 1 to 13, wherein the carrier device is used for docking with the cleaning device.

15. The cleaning system of claim 14, wherein, The cleaning device includes a drive wheel assembly, which includes a gearbox and drive wheels connected to the gearbox. The bottom of the carrying space is provided with a tray. When the cleaning equipment enters the carrying space and is located on the tray, the tray abuts against the gearbox, which can suspend the drive wheel.

16. The cleaning system of claim 15, wherein, The cleaning device and the main body are provided with a positioning detection unit on one of them and a positioning sensor on the other; when the cleaning device moves into the carrying space, the positioning detection unit triggers the positioning sensor.

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