All-terrain intelligent stair cleaning equipment

Abstract

The all-terrain intelligent stair cleaning equipment comprises a walking frame mechanism, a cleaning mechanism and an environment sensing mechanism, the walking frame mechanism comprises a main body, horizontal tracks, a climbing swing arm and a lifting frame, a power source and a master controller are integrated on the main body, and the horizontal tracks are arranged on the left side and the right side of the main body; the horizontal crawler belt is driven by a first crawler belt motor and drives the main body to move horizontally, a crawler wheel on the front side of the horizontal crawler belt is coaxially provided with a climbing swing arm, and the climbing swing arm is a crawler belt type auxiliary climbing arm driven by a second crawler belt motor; and the cleaning mechanism is arranged on the main body and is used for cleaning the treads, the vertical surfaces and the side surfaces of the steps when the main body walks and transversely moves between the steps. Through the arrangement of the walking frame mechanism, the walking frame mechanism can achieve the functions of walking, step climbing, transverse movement between steps and the like, and the application of the device covers complex stair scenes.

Description

Technical Field

[0001] The present invention relates to the field of stair cleaning, and in particular to an all-terrain intelligent stair cleaning device. Background Art

[0002] With the acceleration of urbanization and the booming construction industry, multi-story buildings are becoming increasingly numerous. As essential vertical transportation facilities within buildings, the importance of cleaning and maintenance of stairs has become increasingly prominent. However, stair cleaning is currently primarily performed manually, requiring frequent bending and climbing, which is extremely physically demanding. Long, intensive work can easily lead to fatigue, reducing work efficiency and increasing the risk of workplace accidents. Furthermore, manual cleaning is significantly affected by factors such as the cleaner's skill level, work attitude, and physical condition. Different cleaners may have different understandings and implementation of cleaning standards and procedures, resulting in varying cleaning quality.

[0003] After searching by the inventor, there are some devices for stair cleaning on the market, including the following:

[0004] 1) Publication No. CN119699949A discloses a foldable cleaning robot capable of climbing stairs and its climbing method. In this patent application, the robot comprises a cleaning body, a mopping body, and a telescopic rotating component, wherein the rear end of the cleaning body is connected to the front end of the mopping body via a telescopic rotating component. The present invention uses sensors to effectively identify the environment and adjust its own position and shape, thereby solving the problem of center of gravity balance. The robot can clean flat ground and stairs in all terrains, solving the problem of low cleaning efficiency caused by an overly complex climbing structure and not being suitable for actual application scenarios. The present invention realizes a separate sweeping and mopping process during the automatic climbing and descending of stairs, achieving an efficient cleaning mode of sweeping first and mopping later. The robot has the characteristics of simple structure, time-saving and high efficiency, strong terrain adaptability, and a stable center of gravity that is not easy to tip over when climbing stairs.

[0005] 2) Publication No. CN119769953A discloses a stair-climbing lifting cleaning robot and its climbing method. The patent application includes a body, a walking mechanism, a climbing and telescopic mechanism, a cleaning mechanism, and a sensor module. The present invention can not only clean flat floors, but also climb stairs by lifting to clean upper and lower floors. Its compact structure allows for cleaning narrow spaces such as under beds, thus achieving comprehensive cleaning. It eliminates the need for manual intervention, saving users time and energy and improving cleaning efficiency. Through equipped sensors and control strategies, users can control the robot's start and stop, cleaning mode, and other functions. The robot can also make autonomous adjustments to achieve intelligent cleaning. Compared to traditional separate sweeping robots and vacuum cleaners, this device can save storage space and reduce the space occupied by cleaning equipment.

[0006] However, the above devices still have the following problems:

[0007] While some equipment claims to have strong terrain adaptability and a stable center of gravity when climbing stairs, its ability to move and climb is significantly limited when handling unusual staircase structures, such as those with large step height differences or obstacles like fire hydrants or decorative objects in the stairwell. Furthermore, existing equipment may lack effective lateral movement mechanisms or be inflexible, resulting in missed areas during cleaning, impacting both efficiency and quality.

[0008] Although existing devices are equipped with sensor modules, the accuracy and reliability of the sensors may be affected in complex environments. For example, in stairwells with low light or interference sources (such as electromagnetic interference), the sensors may not be able to accurately identify obstacles, step edges, and other information, resulting in collisions or misjudgments during walking and climbing.

[0009] While existing equipment can clean floors and stairs, it may focus solely on general cleaning of stair treads, lacking effective cleaning methods for areas like stair skirtings and step edges, which are prone to dust accumulation and difficult to clean manually. For example, the junction between skirtings, walls, and steps can easily harbor dirt and grime, which existing equipment may not reach or may not be effective at, resulting in suboptimal overall stair cleanliness. Summary of the Invention

[0010] The purpose of the present invention is to provide an all-terrain intelligent stair cleaning device. Through the setting of a walking frame mechanism, the walking frame mechanism can realize functions such as walking, step climbing and lateral movement between steps, so that the application of the device covers complex stair scenes.

[0011] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an all-terrain intelligent stair cleaning device, comprising a walking frame mechanism, a cleaning mechanism and an environmental sensing mechanism, wherein: the walking frame mechanism is used to provide the device with walking, step climbing and lateral movement between steps in complex stair scenes, the walking frame mechanism comprises a main body, a horizontal crawler, a climbing swing arm and a lifting frame, the main body is integrated with a power supply and a main control, horizontal crawlers are arranged on the left and right sides of the main body, the horizontal crawlers are driven by a first crawler motor and drive the main body to move horizontally, and the crawler wheels on the front side of the horizontal crawler are coaxially installed with a climbing swing arm and a lifting frame. The lifting swing arm and the climbing swing arm are crawler-type auxiliary climbing arms driven by the second crawler motor; the cleaning mechanism is arranged on the main body and cleans the treads, facades and sides of the steps when the main body walks or moves horizontally between steps. The cleaning mechanism includes a vacuum cleaner, a side roller brush and a flat cylindrical roller brush, wherein the dust tank and the main body of the vacuum cleaner are arranged on the main body, and the suction side of the end of the vacuum cleaner is provided with a first dust suction port and a second dust suction port extending to the bottom side of the main body; the environmental sensing mechanism is arranged on the upper side of the main body and provides path navigation and obstacle avoidance for the main body's walking, step climbing and horizontal movement between steps.

[0012] Preferably, the lifting frame is a scissor-type lifting structure, which includes a top frame, a bottom wheel frame, a Mecanum wheel, an electric push rod and an X-shaped fork arm. The top frame is fixed to the lower side of the main body, and there are flat holes on both sides of the top frame. A sliding rod is slidably connected in the flat hole, and the rear end of the sliding rod is driven by the electric push rod.

[0013] Preferably, the lower end of the X-shaped fork arm is hinged to the bottom wheel frame, and the upper end of the X-shaped fork arm is connected to a sliding rod. The X-shaped fork arm moves with the electric push rod, driving the bottom wheel frame to extend or fold. Mecanum wheels are mounted at the four corners of the bottom wheel frame, each driven by a wheel axle motor. When the device needs to move laterally along the stair tread for cleaning, the main control system issues a command, and the electric push rod begins to extend. The electric push rod pushes the sliding rod forward along the slotted hole. Because the upper end of the X-shaped fork arm is connected to the sliding rod and the lower end is hinged to the bottom wheel frame, the movement of the sliding rod causes the X-shaped fork arm to gradually extend. As the X-shaped fork arm extends, the bottom wheel frame gradually descends, the Mecanum wheels contact the stair tread, and the horizontal track separates from the stair tread. When the device completes cleaning the stair tread and needs to climb the next step, the main control system issues another command, causing the electric push rod to retract. The electric push rod pulls the sliding rod backward along the slotted hole, causing the X-shaped fork arm to gradually fold. As the X-shaped fork arm folds, the bottom wheel frame gradually rises, the Mecanum wheel separates from the step tread, the horizontal crawler track re-contacts the step tread, and the equipment resumes the state of climbing by relying on the horizontal crawler track and climbing swing arm.

[0014] Preferably, the flat cylindrical roller brush is arranged on the lower side of the main body and close to the horizontal crawler, the side roller brushes are distributed on the outside of the main body and close to the vacuum cleaner respectively, the side roller brushes are crawler reciprocating roller brushes, and the first suction port extends into the inner side of the side roller brush.

[0015] Preferably, the environmental sensing mechanism includes a multi-line laser radar configured on the top side of the main body through a bracket, a depth camera array configured around the main body, a millimeter wave radar configured on the front side of the main body, and ultrasonic sensors configured on the bottom and sides of the main body.

[0016] Multi-line LiDAR precisely measures the distance to surrounding objects by emitting multiple laser beams and measuring the time it takes for them to reflect back. Combining the data from these multiple laser beams, it constructs a three-dimensional model of the space surrounding the device, clearly showing the shape, position, and height of objects such as stairs, walls, and obstacles.

[0017] The depth camera array captures color images and depth information, providing richer environmental details than multi-line lidar. For example, it can identify the material, color, texture, and other information on the surface of stairs, as well as the subtle features of the stair edges, providing the main control system with more comprehensive environmental perception.

[0018] Millimeter-wave radar boasts high detection speed and resolution, enabling it to quickly detect moving or stationary objects ahead and measure their distance, speed, angle, and other information. As the device climbs stairs, it can promptly detect pedestrians and other moving objects ahead, providing early warning to the main control system.

[0019] Ultrasonic sensors measure the distance between objects and the sensor by emitting ultrasonic waves and receiving reflected waves, offering high close-range detection accuracy. Ultrasonic sensors placed on the bottom and sides of the device provide real-time detection of obstacles within close proximity, such as the edges of steps and walls, to prevent collisions or falls during movement.

[0020] Preferably, the cleaning mechanism also includes a high-pressure dust blowing module, which is arranged on the side of the main body close to the step skirting. The high-pressure dust blowing module includes a motor, a bracket, a disc, a rotating rod, a first rocker arm, a V-shaped connecting rod, a second rocker arm, a first dust blowing frame and a second dust blowing frame, wherein the bracket is fixed on the main body, and a long opening is provided on the bracket, and the first dust blowing frame and the second dust blowing frame are respectively hinged on both sides of the long opening of the bracket.

[0021] Preferably, the motor is fixed to the bottom side of the bracket, the motor shaft end is connected to the disc, and the eccentric side of the disc end surface is hinged to the rotating rod. The first swing arm and the V-shaped connecting rod are both coaxially hinged to the free end of the rotating rod. The middle of the V-shaped connecting rod is movably connected to the bottom side of the bracket, and the upper end of the V-shaped connecting rod extends into the long opening of the bracket and is hinged to the second swing arm.

[0022] Preferably, the end of the first swing arm is hinged to the first dust blowing rack, and the end of the second swing arm is hinged to the second dust blowing rack. A plurality of air outlets are installed on the first dust blowing rack and the second dust blowing rack, and the input sides of the plurality of air outlets are connected to a high-pressure air source. The high-pressure dust blowing module usually works in conjunction with other components of the cleaning mechanism (such as side roller brushes, flat cylindrical roller brushes and vacuum cleaners). When the equipment moves laterally along the stair treads for cleaning, the high-pressure dust blowing module first blows away the dust near the step skirting, and then the side roller brushes and flat cylindrical roller brushes clean the step treads, facades and sides. Finally, the vacuum cleaner sucks away the dust generated by the blowing and cleaning, thereby achieving all-round and efficient stair cleaning. The high-pressure dust blowing module can cover a larger blowing range through the reciprocating swing of the first dust blowing rack and the second dust blowing rack, as well as the fan-shaped blowing area of the air outlet, to ensure that the dust near the step skirting can be effectively blown away.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention is equipped with a traveling frame mechanism, which can realize functions such as walking, step climbing, and lateral movement between steps, so that the application of the device covers complex stair scenes. During the cleaning process, the equipment can flexibly move laterally between different steps according to the actual situation of the stairs, ensuring that the entire stair area is covered, avoiding cleaning omissions, and improving cleaning efficiency and quality.

[0025] 2. The cleaning mechanism of this invention is specifically designed for different parts of the staircase. A flat cylindrical roller brush, located near the horizontal track, efficiently cleans the treads, facades, and sides of the staircase, effectively removing dust and debris. The side roller brushes, located outside the main body and close to the vacuum unit, utilize a reciprocating track structure to reach deep into the corners of the staircase, thoroughly cleaning hidden dirt.

[0026] 3. The high-pressure airflow of the dust blowing module can penetrate deep into the gaps between baseboards and other subtle areas, blowing out long-accumulated stubborn dust. Combined with the powerful suction of the vacuum cleaner, the blown dust is promptly sucked away, forming an efficient cleaning cycle, ensuring deep and thorough cleaning of the stairs. Furthermore, the high-pressure dust blowing module can be expanded or contracted to adapt to different operating conditions of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a front view of embodiment 1 of the present invention;

[0028] Figure 2 This is a bottom view of Example 1 of the present invention;

[0029] Figure 3 Schematic diagram of the three-dimensional structure of the horizontal crawler and the climbing swing arm in Example 1 of the present invention;

[0030] Figure 4 Schematic diagram of the structure of the lifting frame and Mecanum wheels in Example 1 of the present invention;

[0031] Figure 5 This is a schematic structural diagram of the high-pressure dust blowing module in Example 2 of the present invention;

[0032] Figure 6 This is a schematic diagram of the state of climbing stairs when the present invention is applied;

[0033] Figure 7 This is a schematic diagram of the state of going down stairs when the present invention is applied.

[0034] In the figure: 1. Main body; 2. Horizontal crawler track; 3. Climbing swing arm; 4. Lifting frame; 401. Top frame; 402. Bottom wheel frame; 403. Electric push rod; 404. X-shaped fork arm; 5. Mecanum wheel; 6. Vacuum cleaner; 7. Side roller brush; 8. Flat cylindrical roller brush; 9. First dust suction port; 10. Second dust suction port; 11. Environmental sensing mechanism; 12. High-pressure dust blowing module; 121. Motor; 122. Bracket; 123. Disc; 124. Rotating rod; 125. First swing arm; 126. V-shaped connecting rod; 127. Second swing arm; 128. First dust blowing frame; 129. Second dust blowing frame. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0037] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] Example 1: Please refer to Figure 1 、 Figure 2 The present invention provides a technical solution: an all-terrain intelligent stair cleaning device, including a walking frame mechanism, a cleaning mechanism and an environmental sensing mechanism 11.

[0039] See also Figures 1-4 In this embodiment, the walking frame mechanism is used to provide the equipment with walking, step climbing and lateral movement between steps in complex stair scenes. The walking frame mechanism includes a main body 1, a horizontal crawler 2, a climbing swing arm 3 and a lifting frame 4. The main body 1 is integrated with a power supply and a main control. Horizontal crawlers 2 are set on the left and right sides of the main body 1. The horizontal crawler 2 is driven by a first crawler motor and drives the main body 1 to move horizontally. The crawler wheel on the front side of the horizontal crawler 2 is coaxially installed with a climbing swing arm 3. The climbing swing arm 3 is a crawler-type auxiliary climbing arm driven by a second crawler motor; the lifting frame 4 is a scissor-type lifting structure, and the lifting frame 4 includes a top The top frame 401 is fixed to the lower side of the main body 1, and there are slotted holes on both sides of the top frame 401. A slide rod is slidably connected in the slotted hole, and the rear end of the slide rod is driven by the electric push rod 403. The lower end of the X-shaped fork arm 404 is hinged to the bottom wheel frame 402, and the upper end of the X-shaped fork arm 404 is connected to the slide rod. The X-shaped fork arm 404 moves with the electric push rod 403 and drives the bottom wheel frame 402 to be extended or folded. The four corners of the bottom of the bottom wheel frame 402 are equipped with Mecanum wheels 5, and each Mecanum wheel 5 is driven by the wheel axle motor 121.

[0040] In this embodiment, the cleaning mechanism is arranged on the main body 1 and cleans the treads, facades and sides of the steps when the main body 1 is walking or moving horizontally between steps. The cleaning mechanism includes a vacuum cleaner 6, a side roller brush 7 and a flat cylindrical roller brush 8, wherein the dust tank and the main body of the vacuum cleaner 6 are arranged on the main body 1, and the suction side at the end of the vacuum cleaner 6 is provided with a first dust suction port 9 and a second dust suction port 10 extending to the bottom side of the main body 1; the flat cylindrical roller brush 8 is arranged on the lower side of the main body 1 and close to the horizontal crawler 2, and the side roller brushes 7 are distributed on the outside of the main body 1 and are close to the vacuum cleaner 6 respectively. The side roller brushes 7 are crawler reciprocating roller brushes, and the first dust suction port 9 extends into the inner side of the side roller brush 7.

[0041] In this embodiment, in order to further improve the effectiveness of cleaning, the above-mentioned roller brush is also equipped with an intelligent water spray device (not shown in the figure). The water spray module includes a nozzle array, a water tank, a water pump and an intelligent control unit. The nozzle array is distributed in front of or on the side of the roller brush. It uses an adjustable angle atomizing nozzle to support multi-angle and multi-mode spraying (such as fan-shaped spray and columnar spray). The water tank is built into the main body 1 and is equipped with a pressure regulating valve and a flow sensor to monitor the water volume and water pressure in real time. The intelligent control unit is linked to the main control system to dynamically adjust the water spray volume and spray mode according to the environmental perception data. The specific operating modes include:

[0042] Stain recognition: Detects the type and distribution of stains through a depth camera or infrared sensor, and automatically matches the water spray volume and detergent concentration.

[0043] Safety protection: When electrical equipment or fragile materials are detected on the stair surface, it automatically switches to waterless cleaning mode.

[0044] Deep cleaning mode: For heavily polluted areas, high-pressure water spray and powerful roller brush are activated to work together.

[0045] Energy saving mode: reduces the amount of water sprayed in lightly polluted areas and extends the life of the water tank.

[0046] In this embodiment, the environmental sensing mechanism 11 is arranged on the upper side of the main body 1 and provides path navigation and obstacle avoidance for the main body 1 to walk, climb steps, and move horizontally between steps. The environmental sensing mechanism 11 includes a multi-line laser radar arranged on the top side of the main body 1 through a bracket 122, a depth camera array arranged around the main body 1, a millimeter-wave radar arranged on the front side of the main body 1, and ultrasonic sensors arranged on the bottom and sides of the main body 1.

[0047] Example 2: Please refer to Figure 5 The present invention provides a technical solution: an all-terrain intelligent stair cleaning device, comprising a traveling frame mechanism, a cleaning mechanism, and an environmental sensing mechanism 11. In this embodiment, the cleaning mechanism further comprises a high-pressure dust blowing module 12, which is arranged on the side of the main body 1 close to the step skirting. The high-pressure dust blowing module 12 comprises a motor 121, a bracket 122, a disc 123, a rotating rod 124, a first swing arm 125, a V-shaped connecting rod 126, a second swing arm 127, a first dust blowing rack 128, and a second dust blowing rack 129, wherein the bracket 122 is fixed to the main body 1, and a long opening is opened on the bracket 122, and the first dust blowing rack 128 and the second dust blowing rack 129 are respectively hinged on both sides of the long opening of the bracket 122; the motor 121 is fixed to the bottom side of the bracket 122, and the shaft end of the motor 121 is connected to the disc 123, and the eccentric side of the end face of the disc 123 is hinged to the rotating rod 124. A first swing arm 125 and a V-shaped connecting rod 126 are coaxially hinged to the free end of the rotating rod 124. The middle of the V-shaped connecting rod 126 is movably connected to the bottom side of the bracket 122. The upper end of the V-shaped connecting rod 126 extends into the long opening of the bracket 122 and is hingedly connected to the second swing arm 127. The distal end of the first swing arm 125 is hingedly connected to the first dust-blowing rack 128, while the distal end of the second swing arm 127 is hingedly connected to the second dust-blowing rack 129. Both the first dust-blowing rack 128 and the second dust-blowing rack 129 are equipped with multiple air outlets, the input sides of which are connected to a high-pressure air source (not shown).

[0048] See also Figure 6 、 Figure 7 In combination with the above embodiments, the present invention also provides the operating principle of the above-mentioned all-terrain intelligent stair cleaning device:

[0049] 1) Device startup and initialization:

[0050] Local startup: The user directly presses the power button on the device, the device power is connected, and each module starts to power on.

[0051] Remote Start: The user sends a remote startup command through the IoT platform or the dedicated app. After receiving the command, the device's built-in communication module wakes up the device and puts it into the boot state.

[0052] After the device is powered on, the main control system immediately performs a comprehensive self-test of each hardware module. After the self-test is complete, the device automatically attempts to connect to the pre-configured IoT platform or app. Once the connection is successful, the device establishes a stable data communication channel with the cloud server or the user's mobile terminal. The device receives initial task instructions from the IoT platform or app, specifying the specific cleaning area and time requirements. It also obtains cleaning parameters, such as the cleaning mode (normal cleaning, deep cleaning, fast cleaning, etc.) and the volume of voice prompts.

[0053] 2) Go to the staircase area (ground movement phase):

[0054] Environmental Scanning and Mapping: The device's environmental sensing mechanism 11, comprised of a multi-line LiDAR and depth camera array, begins to work, scanning the surrounding environment in all directions and constructing a 3D map in real time. The multi-line LiDAR emits laser beams and measures the time it takes for reflected light to determine the distance to surrounding objects. The depth camera array captures color images and depth information, further enriching the map's details.

[0055] Optimal Path Calculation: The control system uses advanced path planning algorithms (such as Dijkstra's algorithm) based on a constructed map and preset stairway locations to calculate the optimal flat-surface path from the device's current location to the stairway. This path calculation takes into account factors such as path length, obstacle distribution, and ground flatness to ensure the device can reach the stairway quickly and safely.

[0056] Level Ground Travel and Obstacle Avoidance: The main control system controls the first track motor to drive the horizontal track 2 according to the planned path, allowing the device to move smoothly on level ground. During movement, millimeter-wave radar and ultrasonic sensors continuously monitor the front and surrounding dynamic obstacles, such as pedestrians, vehicles, and other moving objects.

[0057] 3) Going up stairs (climbing state):

[0058] Stair Parameter Identification: When the device approaches a staircase, the multi-line LiDAR and depth camera array in the environmental sensing mechanism 11 accurately identify the staircase's height, width, inclination angle, and edge information. By analyzing the collected data, the device determines the specific parameters of the staircase, providing an accurate basis for subsequent climbing and cleaning operations.

[0059] Swing arm angle adjustment: The main control system precisely controls the second track motor of the climbing swing arm 3 according to the stair inclination angle and step height, adjusting the angle of the climbing swing arm 3. For example, when the stair inclination angle is large, the main control system will increase the angle between the climbing swing arm 3 and the horizontal plane, so that it can better fit the stair steps and provide sufficient climbing force.

[0060] 4) Move horizontally along the stair treads (cleaning state):

[0061] When the equipment climbs to the next step, the lifting frame 4 starts to lower the Mecanum wheel 5. At this time, the horizontal track 2 separates from the step tread. The Mecanum wheel 5 moves left and right under the drive of the wheel shaft motor 121. At this time, the equipment can achieve flexible horizontal cleaning on the step tread.

[0062] In the cleaning mode, the side roller brushes 7 and the flat cylindrical roller brush 8 work together. The side roller brushes 7 focus on cleaning the edges and corners of the steps, while the flat cylindrical roller brush 8 is responsible for cleaning the large areas of the treads, facades, and sides. The two work together to improve cleaning efficiency and quality. At the same time, the vacuum cleaner 6 continues to work, promptly sucking away dust and debris picked up by the two roller brushes, keeping the cleaning area clean.

[0063] During the cleaning process, the high-pressure dust blowing module 12 blows away the dust on the step skirting, and the roller brush cleans it;

[0064] After the device completes cleaning the current step, it repeats the climbing state in step 3) and moves to the next step to repeat the cleaning state.

[0065] 5) Task completion and return:

[0066] When the device completes all scheduled stair cleaning tasks, it sends a task completion notification to the user via the IoT or app. Simultaneously, the device's internal motherboard and control system confirm the task completion status and automatically plans a return route based on pre-set instructions or return instructions received via the IoT / app.

[0067] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Changes, modifications, replacements and variations of the above embodiments by ordinary technicians in this field within the scope of the present invention should be included in the scope of protection of the present invention, including but not limited to changes in other climbing methods and cleaning methods.

Claims

1. An all-terrain intelligent stair cleaning device, comprising a traveling frame mechanism, a cleaning mechanism and an environment sensing mechanism (11), characterized in that: The walking frame mechanism is used to provide the equipment with walking, step climbing and horizontal movement between steps in complex stair scenes. The walking frame mechanism includes a main body (1), a horizontal crawler (2), a climbing swing arm (3) and a lifting frame (4). The main body (1) is integrated with a power supply and a main control. Horizontal crawlers (2) are set on the left and right sides of the main body (1). The horizontal crawler (2) is driven by a first crawler motor and drives the main body (1) to move horizontally. The crawler wheel on the front side of the horizontal crawler (2) is coaxially installed with a climbing swing arm (3). The climbing swing arm (3) is a crawler-type auxiliary climbing arm driven by a second crawler motor. The cleaning mechanism is arranged on the main body (1) and cleans the tread, facade and side surfaces of the steps when the main body (1) is walking or moving horizontally between steps. The cleaning mechanism comprises a dust collector (6), a side roller brush (7) and a plane cylindrical roller brush (8). The dust tank and the main body of the dust collector (6) are arranged on the main body (1). The suction side of the end of the dust collector (6) is provided with a first dust suction port (9) and a second dust suction port (10) extending to the bottom side of the main body (1). The environment sensing mechanism (11) is arranged on the upper side of the main body (1) and provides path navigation and obstacle avoidance for the main body (1) when walking, climbing steps, and moving horizontally between steps.

2. The all-terrain intelligent stair cleaning device according to claim 1, characterized in that: The lifting frame (4) is a scissor-type lifting structure, comprising a top frame (401), a bottom wheel frame (402), a Mecanum wheel (5), an electric push rod (403) and an X-shaped fork arm (404). The top frame (401) is fixed to the lower side of the main body (1). Both sides of the top frame (401) are provided with a straight hole, and a sliding rod is slidably connected in the straight hole. The rear end of the sliding rod is driven by the electric push rod (403).

3. The all-terrain intelligent stair cleaning device according to claim 2, characterized in that: The lower end of the X-shaped fork arm (404) is hinged to the bottom wheel frame (402), and the upper end of the X-shaped fork arm (404) is connected to the slide rod. The X-shaped fork arm (404) moves with the electric push rod (403) and drives the bottom wheel frame (402) to be extended or folded. Mecanum wheels (5) are installed at the four corners of the bottom of the bottom wheel frame (402), and each Mecanum wheel (5) is driven by a wheel shaft motor (121).

4. The all-terrain intelligent stair cleaning device according to claim 1, characterized in that: The planar cylindrical roller brush (8) is arranged on the lower side of the main body (1) and close to the horizontal crawler (2); the side roller brushes (7) are distributed on the outside of the main body (1) and close to the vacuum cleaner (6); the side roller brushes (7) are crawler reciprocating roller brushes; and the first dust suction port (9) extends into the inner side of the side roller brush (7).

5. The all-terrain intelligent stair cleaning device according to claim 1, characterized in that: The environmental sensing mechanism (11) includes a multi-line laser radar configured on the top side of the main body (1) through a bracket (122), a depth camera array configured around the main body (1), a millimeter wave radar configured on the front side of the main body (1), and ultrasonic sensors configured on the bottom and sides of the main body (1).

6. The all-terrain intelligent stair cleaning device according to claim 1, characterized in that: The cleaning mechanism further comprises a high-pressure dust blowing module (12), which is arranged on a side of the main body (1) close to the step skirting, and the high-pressure dust blowing module (12) comprises a motor (121), a bracket (122), a disc (123), a rotating rod (124), a first swing arm (125), a V-shaped connecting rod (126), a second swing arm (127), a first dust blowing frame (128) and a second dust blowing frame (129), wherein the bracket (122) is fixed to the main body (1), a long opening is provided on the bracket (122), and the first dust blowing frame (128) and the second dust blowing frame (129) are respectively hingedly mounted on both sides of the long opening of the bracket (122).

7. The all-terrain intelligent stair cleaning device according to claim 6, characterized in that: The motor (121) is fixed on the bottom side of the bracket (122), the shaft end of the motor (121) is connected to the disc (123), and the eccentric side of the end surface of the disc (123) is hinged to the rotating rod (124).

8. The all-terrain intelligent stair cleaning device according to claim 6, characterized in that: The first swing arm (125) and the V-shaped connecting rod (126) are coaxially hinged to the free end of the rotating rod (124); the middle of the V-shaped connecting rod (126) is movably connected to the bottom side of the bracket (122); the upper end of the V-shaped connecting rod (126) extends into the long opening of the bracket (122) and is hinged to the second swing arm (127).

9. The all-terrain intelligent stair cleaning device according to claim 8, characterized in that: The end of the first swing arm (125) is hinged to the first dust blowing frame (128), and the end of the second swing arm (127) is hinged to the second dust blowing frame (129).

10. The all-terrain intelligent stair cleaning device according to claim 9, characterized in that: A plurality of air outlets are installed on the first dust blowing rack (128) and the second dust blowing rack (129), and the input sides of the plurality of air outlets are connected to a high-pressure gas source.

Images