Horizontal-motion rotating leg type stair cleaning robot and stair go-up-and-down method

Abstract

The invention discloses a horizontal-motion rotating leg type stair cleaning robot and a stair go-up-and-down method. The robot comprises a machine body, horizontal-motion rotating leg mechanisms which are symmetrically distributed on the two sides of the machine body and comprise supporting legs and rotating arms, and a distance measuring and approaching sensor. The stair go-up-and-down method includes the steps that when the robot goes up the stairs, the machine body is supported by the supporting legs through the rotating arms and horizontally rotates to the upper step, and the rotating arms continuously rotate till the supporting legs are taken back to the two sides of the machine body; when the robot goes down the stairs, the supporting legs are driven by the machine body to horizontally rotate to the lower step by rotating the rotating arms, the machine body is supported up from the current step, the rotating arms continuously rotate till the machine body falls back to the lower step and the supporting legs are taken back to the two sides of the machine body. The step-missing and colliding conditions are avoided through the distance measuring and approaching sensor, and reliable operation is guaranteed. The horizontal-motion rotating leg type stair cleaning robot and the stair go-up-and-down method have the advantages that the stair go-up-and-down action is simple and efficient, the structure is compact, back-and-forth cleaning on the stepping face of the stairs is facilitated, the function for sweeping the flat ground is also taken into consideration, and the application range of the robot is widened.

Description

technical field [0001] The invention relates to a stair cleaning robot with translational and rotating legs and a method for going up and down stairs, in particular to a robot with translational and rotating legs for going up and down stairs and a method for going up and down stairs with simple and compact structure, reliable and reasonable movement, and belongs to the field of robots. Background technique [0002] All kinds of high-rise buildings, lecture halls, conference halls, stadium stands and other buildings including stairs are becoming more and more common, and the work of corridor cleaning has increased significantly. However, most of the cleaning robots that have entered people's daily life are indoor flat floor cleaning robots, so It is necessary to study and develop a cleaning robot for stairs. Various methods for climbing stairs have been proposed successively, mainly including: wheel type, crawler type, leg type, rolling type. Among them, the crawler type and...

AI Technical Summary

Problems solved by technology

The robot of the above method, due to the crawler structure, is effective for climbing stairs quickly in rescue, but the huge volume is not suitable for stair cleaning. The specific performances are as follows: 1. The robot cannot complete the task of cleaning back and forth on the step surface of the stairs , resulting in limited practical performance, and can only climb stairs; 2. The robot’s auxiliary operations such as cleaning stairs and grabbing objects make the mechanism huge, unable to work in small spaces, and the scope of applicability is reduced; 3. The robot is bulky, causing High cost, not conducive to market promotion

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