Stair-climbing cleaning robot, control system and control method

Abstract

The invention provides a stair-climbing cleaning robot, a control system and a control method, and relates to the technical field of cleaning robos.The stair-climbing cleaning robot is mainly composed of a main board mechanism, a Mecanum wheel chassis, a cleaning device, a supporting mechanism, an adjusting device, a collision mechanism and a lifting mechanism, and the Mecanum wheel chassis, the cleaning device, the supporting mechanism, the adjusting device, the collision mechanism and the lifting mechanism are installed on the main board mechanism; through the supporting mechanism, the robot can be kept stable in various stair environments and is not prone to toppling over, and it is guaranteed that the cleaning process is conducted smoothly; through the adjusting device, real-time adjustment can be conducted according to the height, gradient and material of the stairs, the sweeping efficiency is effectively improved, the purpose of adapting to different types of stairs is achieved, and the cleaning quality and consistency under a complex stair structure are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a stair-climbing cleaning robot, a control system and a control method. Background Art

[0002] With the development of artificial intelligence, robots are widely used in various fields. After decades of development, household sweeping robots have evolved from the initial vacuum cleaner "trilobite" with only mobile functions to today's highly intelligent and multifunctional intelligent robots with multi-functions such as path planning, automatic charging, sweeping, mopping, and sterilization.

[0003] There are already a few cleaning robots on the market that are capable of handling complex terrains. These robots mainly achieve climbing or obstacle-crossing functions through tracks or multi-wheel drive systems.

[0004] However, this type of equipment is mostly used in outdoor environments with obstacles or uneven surfaces, and is not specifically designed for stair cleaning. They perform well on relatively flat steps, but their stability and adaptability are poor when encountering steep stairs or steps of different heights. First, these robots are prone to losing balance when working on stairs, especially when dealing with stairs with large height changes or steep steps, there is a risk of tipping over. Secondly, the existing design lacks adaptive adjustment capabilities and cannot be dynamically adjusted according to the height, slope or material of different stairs, resulting in poor cleaning effects under various stair forms. In addition, in complex stair structures such as corners or irregular steps, existing robots are difficult to respond flexibly, and the cleaning efficiency is low, often leaving cleaning dead corners, affecting the overall cleaning quality. Summary of the invention

[0005] In view of this, one of the objects of the present invention is to provide a stair-climbing cleaning robot to solve the technical problem that the stair-climbing robots in the prior art have poor stability and adaptability when encountering steep stairs or steps of different heights.

[0006] A second object of the present invention is to provide a control system for a stair-climbing cleaning robot.

[0007] A third object of the present invention is to provide a control method for a stair-climbing cleaning robot.

[0008] In order to achieve one of the above-mentioned purposes, the present invention provides a stair-climbing cleaning robot, comprising a mainboard mechanism and a Mecanum wheel chassis installed on the mainboard mechanism, a cleaning device, a supporting mechanism, an adjusting device, a collision mechanism and a lifting mechanism, wherein the cleaning device comprises a dust suction mechanism and a floor washing mechanism, wherein the dust suction mechanism and the floor washing mechanism are arranged one after the other, and the lifting mechanism is arranged between the dust suction mechanism and the floor washing mechanism, and is used to lift the dust suction mechanism and the floor washing mechanism one after the other, the supporting mechanism is installed between the dust suction mechanism and the floor washing mechanism, and the Mecanum wheel chassis is installed between the dust suction mechanism, the adjusting device is installed above one side of the Mecanum wheel chassis, and is used to adapt to different stair structures in real time, and the collision mechanism is installed on the side of the Mecanum wheel chassis, and is used to protect the robot from colliding with obstacles when moving on the stairs.

[0009] According to an optional implementation, the mainboard mechanism includes an upper mainboard and a lower mainboard spaced a preset distance from the upper mainboard.

[0010] According to an optional embodiment, the lifting mechanism includes a drive motor and a ball screw, one end of the ball screw is fixed to the upper main board, and the other end passes through the lower main board through a bearing and is connected to the drive motor. The drive motor and the ball screw are arranged in pairs to respectively realize the sequential lifting and lowering of the dust collection mechanism and the floor washing mechanism.

[0011] According to an optional embodiment, the dust collection mechanism includes a dust collector head and a dust collector barrel, the dust collector barrel is mounted on the upper main board and extends toward the lower main board, the dust collector heads are arranged in pairs on both sides of the Mecanum wheel chassis and are connected to the dust collector barrel.

[0012] According to an optional embodiment, the floor washing mechanism includes a mop head and a clean water tank, the clean water tank is mounted on the upper main board and extends toward the lower main board, the mop heads are arranged in pairs behind the vacuum cleaner head and are connected to the clean water tank.

[0013] According to an optional embodiment, the support mechanism includes a support rod and a support wheel, the support rod and the support wheel are arranged in pairs, one end of the support rod is installed on the upper main board, and the other end extends downward through the lower main board, and the support wheel is fixed to the end of the support rod.

[0014] According to an optional embodiment, the adjustment device includes a width adaptive mechanism and a height adaptive mechanism, the width adaptive mechanism is arranged between the upper main board and the lower main board, the width adaptive mechanism is arranged directly above the Mecanum wheel chassis, and is used to adapt to stairs of different widths, and the height adaptive mechanism is arranged on the upper side of the Mecanum wheel chassis and is connected to the width adaptive mechanism, and is used to adapt to stairs of different heights.

[0015] According to an optional embodiment, the collision mechanism includes a collision rod, a lateral guide column, a ground wheel guide column, a spring and a linear bearing, the collision rod is fixed on the dust suction mechanism, the collision rod, the lateral guide column, the ground wheel guide column and the linear bearing are connected in sequence, and the spring is sleeved on the ground wheel guide column.

[0016] In order to achieve the second objective, the present invention provides a control system for any of the above-mentioned stair climbing cleaning robots, comprising a sensor unit and a control unit, wherein the sensor unit comprises a step detection sensor, a photoelectric sensor and a collision sensor, wherein the step detection sensor is electrically connected to the control unit, wherein the control unit is electrically connected to the cleaning device, wherein the photoelectric sensor is electrically connected to the control unit, wherein the control unit is electrically connected to the adjusting device, wherein the collision sensor is disposed on the collision mechanism and is electrically connected to the control unit, and wherein the control unit is electrically connected to the Mecanum wheel chassis;

[0017] The control unit is electrically connected to the lifting mechanism;

[0018] It also includes a Slam unit for detecting the stair environment and the robot's operating status and automatically adjusting the robot's route.

[0019] In order to achieve the third objective above, the present invention provides a control method for any of the above-mentioned stair-climbing cleaning robots, comprising the following steps:

[0020] Obtain the start signal of the lifting mechanism, and the control unit controls the Mecanum wheel chassis to rise, fall, move forward or backward;

[0021] Acquiring the surface condition of the stairs, the control unit controls the regulating device and the cleaning device to adapt to the surface condition of the stairs;

[0022] Obstacle signals from the collision mechanism are obtained, and the control unit controls the Mecanum wheel chassis to change direction.

[0023] The stair-climbing cleaning robot provided by the present invention has the following technical effects:

[0024] The stair-climbing cleaning robot is mainly composed of a mainboard mechanism and a Mecanum wheel chassis installed on the mainboard mechanism, a cleaning device, a supporting mechanism, an adjusting device, a collision mechanism and a lifting mechanism. The supporting mechanism can enable the robot to remain stable in various stair environments and not easily tip over, thereby ensuring the smooth progress of the cleaning process; the adjusting device can make real-time adjustments according to the height, slope and material of the stairs, effectively improving the cleaning efficiency, so as to adapt to different types of stairs and ensure the cleaning quality and consistency under complex stair structures.

[0025] The control system of the stair-climbing cleaning robot provided by the present invention has the following technical effects:

[0026] The control system includes a sensor unit and a control unit. The sensor unit includes a step detection sensor, a photoelectric sensor and a collision sensor. The control unit, the step detection sensor, the photoelectric sensor and the collision sensor of the present invention work together to be responsible for the overall control and coordination of various parts of the robot, including the movement of the Mecanum wheel chassis, the operation of the cleaning device, and the linkage with the collision mechanism, so as to ensure that the robot can complete the cleaning task autonomously.

[0027] At the same time, the Slam unit can detect the stair environment and the robot's operating status, and automatically adjust the robot's route.

[0028] The control method of the stair-climbing cleaning robot provided by the present invention has the following technical effects:

[0029] This control method automatically adjusts the robot's route by acquiring the robot's operating status and stair environment to ensure a safe and efficient cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a three-dimensional structural schematic diagram of a preferred embodiment of the stair-climbing cleaning robot of the present invention;

[0032] Figure 2 yes Figure 1 The front view of the stair-climbing cleaning robot;

[0033] Figure 3 yes Figure 1 Rear view of the middle stair-climbing cleaning robot;

[0034] Figure 4 yes Figure 1 Side view of the stair-climbing cleaning robot;

[0035] Figure 5 yes Figure 1 Schematic diagram of the structure of the stair-climbing cleaning robot;

[0036] Figure 6 yes Figure 1 Schematic diagram of another part of the structure of the stair climbing cleaning robot;

[0037] Figure 7 yes Figure 1 The usage status diagram of the stair-climbing cleaning robot;

[0038] Figure 8 yes Figure 1 Control system diagram of the stair-climbing cleaning robot;

[0039] Fig. 9 yes Figure 1 The flow chart of the stair-climbing cleaning robot going upstairs;

[0040] Fig.10 yes Figure 1 Flow chart of the stair-climbing cleaning robot going downstairs.

[0041] in, Figure 1-Figure 10 :

[0042] 1. Mecanum wheel chassis; 11. Mecanum wheel;

[0043] 2. Cleaning device; 21. Dust collection mechanism; 211. Vacuum cleaner head; 212. Vacuum cleaner cylinder; 22. Floor washing mechanism; 221. Mop head; 222. Clean water tank;

[0044] 3. Support mechanism; 31. Support wheel; 32. Support rod;

[0045] 4. Adjustment device; 41. Width adaptive mechanism; 411. Adjustment connecting rod; 42. Height adaptive mechanism; 421. Slide rail; 422. Fixed caster;

[0046] 5. Collision mechanism; 51. Collision rod; 52. Lateral guide column; 53. Ground wheel guide column; 54. Linear bearing; 55. Spring;

[0047] 6. Lifting mechanism; 61. Driving motor; 62. Ball screw;

[0048] 7. Remove the motherboard;

[0049] 8. Install the main board. DETAILED DESCRIPTION

[0050] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0051] Based on the defects in the prior art, the following Figure 1-10 The structure of a preferred embodiment of the stair-climbing cleaning robot of the present invention is described in detail.

[0052] like Figure 1-7 2 is a schematic diagram of the structure of a preferred embodiment of the stair-climbing cleaning robot of the present invention. The stair-climbing cleaning robot includes a main board mechanism, and a Mecanum wheel chassis 1 installed on the main board mechanism, a cleaning device 2, a supporting mechanism 3, an adjusting device 4, a collision mechanism 5 and a lifting mechanism 6.

[0053] The mainboard structure includes an upper mainboard 8 and a lower mainboard 7. The upper mainboard 8 and the lower mainboard 7 are separated by a preset distance. The upper mainboard 8 is used to connect and support the upper components of the equipment, such as the clean water tank 222 of the cleaning device 2, to provide sufficient stability and support; the lower mainboard 7 carries the mechanical and electrical components at the bottom of the robot, is an important part of the robot chassis, and supports the weight of the overall structure.

[0054] The Mecanum wheel chassis 1 is mainly composed of a Mecanum wheel 11. The Mecanum wheel 11 is a common structure in the prior art. It is a device that can move in all directions. This all-directional movement is based on the principle of a central wheel with many wheel axles located around the wheel. These angled peripheral wheel axles convert part of the wheel steering force into a wheel normal force. Depending on the direction and speed of each wheel, omnidirectional movement is often a necessary function of the Mecanum wheel 11. Omnidirectional movement means that it can make any direction translation and rotation in a plane.

[0055] The Mecanum wheel chassis 1 of this embodiment serves as a mobile carrier, and Mecanum wheels 11 are installed in four directions respectively, so as to realize all-round flexible movement, provide the robot with multi-directional mobility, and allow it to flexibly adjust its position on the stairs. The Mecanum wheels 11 constituting the Mecanum wheel chassis 1 can freely move forward, backward, left, right, and diagonally, so as to help the robot realize efficient stair cleaning tasks.

[0056] Detailed, such as Figure 2-4As shown, the lifting mechanism 6 of the present embodiment is arranged between the dust suction mechanism 21 and the floor washing mechanism 22, and is used for making the dust suction mechanism 21 and the floor washing mechanism 22 lift and lower one after the other. Specifically, the lifting mechanism 6 includes a driving motor 61 and a ball screw 62. The driving motor 61 is preferably a servo motor. The servo motor can be electrically connected to the control unit, that is, the speed and start and stop of the servo motor are controlled by the control unit. One end of the ball screw 62 is fixed to the upper main board 8, and the other end passes through the lower main board 7 through a bearing. The driving motor 61 located below the lower main board 7 is drivingly connected to the ball screw 62. When the driving motor 61 is started, the ball screw 62 is driven to rotate, thereby driving the lower main board 7 to move up and down, thereby realizing the lifting of the robot.

[0057] It should be noted that the drive motor 61 and the ball screw 62 of this embodiment are arranged in pairs, so that the vacuum cleaner and the mop head 221 can be lifted and lowered in sequence, that is, when the mop head 221 is stationary, the vacuum cleaner rises upward under the drive of the drive motor 61, or when the vacuum cleaner is stationary, the mop head 221 falls downward under the drive of the drive motor 61.

[0058] like Figure 1-4 As shown, the cleaning device 2 of this embodiment includes a dust suction mechanism 21 and a floor scrubbing mechanism 22, which are arranged one after the other. The dust suction mechanism 21 is used to suck dust and dirt on the stairs, and the floor scrubbing mechanism 22 is used to deeply clean the stairs.

[0059] The dust collection mechanism 21 includes a dust collector head 211 and a dust collector barrel 212. The dust collector barrel 212 is mounted on the upper main board 8 and extends toward the lower main board 7. The dust collector heads 211 are arranged in pairs on both sides of the Mecanum wheel chassis 1 and are connected to the dust collector barrel 212, that is, dust and dirt are sucked into the dust collector barrel 212 through the dust collector heads 211. The dust collector heads 211 and the dust collector barrel 212 of this embodiment each include two, which are installed in pairs on both sides of the Mecanum wheel chassis 1.

[0060] Corresponding to the vacuum mechanism 21, the floor washing mechanism 22 of this embodiment includes a mop head 221 and a clean water tank 222. The mop head 221 is used to clean and wipe the surface of the stairs and cooperate with the vacuum cleaner to ensure the thoroughness of the cleaning. The clean water tank 222 includes two clean water tanks 222, which are installed on the upper main board 8 and extend toward the lower main board 7, that is, the upper main board 8 and the lower main board 7 work together to fix the clean water tank 222. The mop head 221 also includes two mop heads 221, which are installed in pairs behind the vacuum cleaner head 211 and are connected to the clean water tank 222 through a pipeline, that is, the clean water tank 222 provides a water source for cleaning for the mop head 221.

[0061] Support mechanism 3, such as Figure 4As shown, it is installed between the dust suction mechanism 21 and the floor washing mechanism 22. The support mechanism 3 includes a support rod 32 and a support wheel 31. The support rod 32 and the support wheel 31 are arranged in pairs. One end of the support rod 32 is installed on the upper main board 8, and the other end extends downward through the lower main board 7. The support wheel 31 is fixed to the end of the support rod 32.

[0062] The support wheels 31 provide additional support and stability when the robot goes up and down stairs, preventing the robot from tilting or tipping over when moving. The support wheel 31 rod is a structural part that connects and supports the support wheels 31, ensuring the stabilization of the support wheels 31. This embodiment further improves the stability of the device by increasing the contact area and support points with the stairs through the support mechanism 3, ensuring that the device can maintain balance and safety even on complex stair structures.

[0063] like Figure 1-6 As shown, the adjustment device 4 is installed above one side of the Mecanum wheel chassis 1 for real-time adaptation to different stair structures and is installed between the upper main board 8 and the lower main board 7. The adjustment device 4 includes a width adaptive mechanism 41 and a height adaptive mechanism 42. The width adaptive mechanism 41 is arranged between the upper main board 8 and the lower main board 7. The width adaptive mechanism 41 is arranged directly above the Mecanum wheel chassis 1 for adapting to stairs of different widths. The height adaptive mechanism 42 is arranged above the side of the Mecanum wheel chassis 1 and is connected to the width adaptive mechanism 41 for adapting to stairs of different heights. The width adaptive mechanism 41 adapts to the width changes of different steps and adapts to the height differences of different steps through the height adaptive mechanism 42, thereby ensuring the smooth operation and precise movement of the robot in a variety of stair environments.

[0064] Detailed, such as Figure 6 As shown, the width adaptive mechanism 41 includes an adjusting link 411, and a ball screw 62 is connected to the end of the adjusting link 411. By rotating the adjusting link 411, one ball screw 62 can move forward and backward relative to the other ball screw 62, and then the distance between the two ball screws 62 is determined according to the width of the stairs, that is, the rotation degree of the adjusting link 411 is determined.

[0065] It should be noted that in order to realize the automatic rotation of the adjusting link 411, it also includes a handle drive motor 61 and a photoelectric sensor. The photoelectric sensor is electrically connected to the control unit, the control unit is electrically connected to the handle drive motor 61, the handle drive motor 61 is control-connected to the adjusting link 411, the photoelectric sensor detects the width of the stairs, and transmits the width signal of the stairs to the control unit. The control unit controls the rotation degree of the handle drive motor 61, and then controls the rotation degree of the adjusting link 411 to control the spacing between the two ball screws 62, so as to achieve the purpose of adapting to different stair step widths.

[0066] The highly adaptive mechanism 42 includes a slide rail 421 and a directional caster 422. The slide rail 421 provides support for the movement of the components in the vertical direction to ensure that the various parts of the robot can be lifted and lowered smoothly. The directional caster 422 helps the robot to move stably in a specific direction and prevents the robot from shifting during the cleaning process. The directional caster 422 of this embodiment is installed at the end of the slide rail 421, and the top of the slide rail 421 is installed on the adjustment link 411.

[0067] Since the directional caster 422 is installed at the end of the slide rail 421, when the directional caster 422 contacts the steps of the stairs, it can cause the slide rail 421 to move upward. When the directional caster 422 does not contact the steps of the stairs, it naturally droops due to gravity, and the slide rail 421 moves downward. Therefore, this embodiment achieves stair step height adaptation through the directional caster 422.

[0068] like Figure 5 As shown, the collision mechanism 5 is used to protect the robot from colliding with obstacles when moving on the stairs, and enables the robot to stop or adjust its direction in time when encountering obstacles through sensing or mechanical means.

[0069] Specifically, the collision mechanism 5 is installed on the side of the Mecanum wheel chassis 1 to protect the robot from colliding with obstacles when moving on the stairs. The structure includes a collision rod 51, a lateral guide column 52, a ground wheel guide column 53, a spring 55 and a linear bearing 54. The collision rod 51 is fixed on the dust suction mechanism 21, and the collision rod 51, the lateral guide column 52, the ground wheel guide column 53 and the linear bearing 54 are connected in sequence. The spring 55 is sleeved on the ground wheel guide column 53.

[0070] In the process of the robot moving left and right on each floor of the stairs, because the outer corridor is connected by railings, the gaps between the railings are often not detected by sensors, so a collision mechanism 5 is set. When the robot moves to one side of the railing, it first touches the collision rod 51, and senses obstacles in the environment through the contact action of the collision rod 51, and then drives the lateral guide column 52, the ground wheel guide column 53, the spring 55 and the linear bearing 54 to work together. The collision sensor only needs to detect the end of the linear bearing 54 to complete the signal detection. That is, when the collision mechanism 5 of this embodiment encounters other obstacles, it allows the robot to stop or adjust its direction in time through sensing or mechanical means when encountering obstacles, thereby ensuring the stability and safety of the robot when operating in a complex environment.

[0071] like Figure 8 As shown, this embodiment also provides a control system for a stair-climbing cleaning robot. The control system includes a sensor unit and a control unit. The sensor unit includes a step detection sensor, a photoelectric sensor, and a collision sensor.

[0072] In detail, the step detection sensor of the present embodiment is electrically connected to the control unit, and the control unit is electrically connected to the cleaning device 2 and the adjusting device 4. The step detection sensor detects the condition of the stair steps, such as the slope and material of the stairs, and transmits the detection signal to the control unit. After processing the signal, the control unit controls the cleaning device 2 and the adjusting device 4 to automatically adjust the working parameters such as speed and strength to adapt to the cleaning needs of different stair surfaces.

[0073] Due to the presence of step detection sensors and dynamic adjustments, the robot can efficiently cover the surface of the stairs, avoid omissions and repeated cleaning, greatly improve cleaning efficiency, adapt to various stair types, and shorten operation time.

[0074] The photoelectric sensor of this embodiment is electrically connected to the control unit, and the control unit is electrically connected to the adjusting device 4. The control unit here is electrically connected to the width adaptive mechanism 41 in the adjusting device 4. The width adaptive mechanism 41 includes an adjusting link 411. The ball screw 62 is connected to the end of the adjusting link 411. By rotating the adjusting link 411, one ball screw 62 can move forward and backward relative to the other ball screw 62, and then the distance between the two ball screws 62 is determined according to the width of the stairs, that is, the rotation degree of the adjusting link 411 is determined.

[0075] At the same time, the control system of the stair climbing cleaning robot also includes a Slam unit. The Slam unit includes a depth camera or a lidar. The depth camera or the lidar is communicated with the composition module. That is, the Slam unit is used to build a map, detect the stair environment and the operating status of the robot, and automatically adjust the robot's route to ensure a safe and efficient cleaning process.

[0076] In order to realize automatic rotation of the adjusting link 411, the photoelectric sensor is electrically connected to the control unit, the control unit is electrically connected to the handle drive motor 61, the handle drive motor 61 is control-connected to the adjusting link 411, the photoelectric sensor detects the width of the stairs, and transmits the width signal of the stairs to the control unit, the control unit controls the rotation degree of the handle drive motor 61, and then controls the rotation degree of the adjusting link 411, so as to control the spacing between the two ball screws 62, so as to achieve the purpose of adapting to different stair step widths.

[0077] The collision sensor of this embodiment is arranged on the collision mechanism 5 and is electrically connected to the control unit, and the control unit is electrically connected to the Mecanum wheel chassis 1. When the collision sensor senses an obstacle, it transmits a signal to the control unit, and the control unit controls the steering of the Mecanum wheel chassis 1, that is, adjusts the direction of the robot in real time to ensure the safety and stability of the robot in a complex environment.

[0078] In addition, the control unit of this embodiment is electrically connected to the lifting mechanism 6 , that is, after the robot is started, a start signal is transmitted to the control unit, and the lifting and lowering of the lifting mechanism 6 is controlled by the control unit.

[0079] This stair-climbing cleaning robot detects the stair environment and the robot's operating status in real time, automatically adjusts the robot's route, and ensures a safe and efficient cleaning process.

[0080] like Fig. 9 and Fig.10 As shown, this embodiment also provides a control method for a stair-climbing cleaning robot, comprising the following steps:

[0081] Obtaining a start signal of the lifting mechanism 6, the control unit controls the Mecanum wheel chassis 1 to rise, fall, move forward or backward;

[0082] Acquire the surface condition of the stairs, and the control unit controls the adjustment device 4 and the cleaning device 2 to adapt to the surface condition of the stairs;

[0083] Obstacle signals from the collision mechanism 5 are acquired, and the control unit controls the Mecanum wheel chassis 1 to change direction.

[0084] Specifically, Fig. 9 As shown, it is a flowchart for going up stairs, which includes the following steps:

[0085] (1) Mecanum wheel chassis 1 rises

[0086] Purpose: To raise the Mecanum wheel chassis 1 to the same height as the next step.

[0087] Process: By controlling the ball screw 62, the Mecanum wheel chassis 1 rises slowly to ensure that the robot can overcome the height of the current step. The precise control driven by the ball screw 62 can ensure a smooth and orderly rising process.

[0088] (2) Support wheel 31 moves forward

[0089] Purpose: After the Mecanum wheel chassis 1 rises, the support wheels 31 move forward to provide stable support for the robot and prevent it from tilting.

[0090] Process: After the Mecanum wheel chassis 1 rises to a certain height, the support wheel 31 moves forward to push the robot to smoothly cross the current step. This step prevents the robot from losing balance through mechanical support.

[0091] (3) Mecanum wheel chassis 1 lowered

[0092] Purpose: To lower the Mecanum wheel chassis 1 back to the supporting position for subsequent advancement.

[0093] Process: By controlling the ball screw 62, the Mecanum wheel chassis 1 is slowly lowered to a height that matches the support wheel 31. In this way, the robot can restore its balance after completing the support and prepare for the next step.

[0094] (4) Mecanum wheel chassis 1 forward

[0095] Purpose: Push the robot forward and prepare to ascend the next step.

[0096] Process: After the Mecanum wheel chassis 1 descends and stabilizes, the Mecanum wheel 11 moves forward, pushing the robot forward into the next step area, preparing to repeat the cycle and start the climbing process of the next step.

[0097] like Fig.10 As shown, it is a flowchart for going down stairs, which includes the following steps:

[0098] (5) Mecanum wheel chassis 1 moves backward

[0099] Purpose: To move the robot backwards to prepare for the rise of the Mecanum wheel chassis 1.

[0100] Process: Control the Mecanum wheel chassis 1 to retreat so that the robot retreats from the front of the current step to a safe position. The retreat operation provides enough space for the Mecanum wheel chassis 1 to rise in the next step.

[0101] (6) Mecanum wheel chassis 1 rises

[0102] Purpose: To elevate the Mecanum wheel chassis 1 so that it can effectively prepare to cross the next step.

[0103] Process: By controlling the ball screw 62, the Mecanum wheel chassis 1 slowly rises to a height suitable for crossing the steps, and the rising process is smooth to ensure that the robot can make a seamless transition.

[0104] (7) Support wheel 31 moves backward

[0105] Purpose: To allow the support wheel 31 to retreat from the current step to prepare for further operation of the chassis.

[0106] Process: The support wheel 31 moves backward, moving the support structure away from the step, ensuring that the center of gravity of the robot can move to a safe position, preparing for the next descending operation.

[0107] (8) Mecanum wheel chassis 1 lowered

[0108] Purpose: To lower the Mecanum wheel chassis 1 to the height of the next step and complete the step descending action.

[0109] Process: The Mecanum wheel chassis 1 is slowly lowered to the height of the next step through the control of the ball screw 62, so that the robot smoothly enters the next step position.

[0110] In the description of the present invention, it should be noted that, unless otherwise specified, "multiple" means two or more than two; the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, and 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 direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0111] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0112] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A stair-climbing cleaning robot, characterized in that: The invention comprises a main board mechanism and a Mecanum wheel chassis installed on the main board mechanism, a cleaning device, a supporting mechanism, an adjusting device, a collision mechanism and a lifting mechanism. The cleaning device comprises a dust suction mechanism and a floor washing mechanism. The dust suction mechanism and the floor washing mechanism are arranged one after the other. The lifting mechanism is arranged between the dust suction mechanism and the floor washing mechanism and is used to lift the dust suction mechanism and the floor washing mechanism one after the other. The supporting mechanism is installed between the dust suction mechanism and the floor washing mechanism. The Mecanum wheel chassis is installed between the dust suction mechanism. The adjusting device is installed above one side of the Mecanum wheel chassis and is used to adapt to different stair structures in real time. The collision mechanism is installed on the side of the Mecanum wheel chassis and is used to protect the robot from colliding with obstacles when moving on the stairs.

2. The stair-climbing cleaning robot according to claim 1, characterized in that: The mainboard mechanism comprises an upper mainboard and a lower mainboard spaced a preset distance from the upper mainboard.

3. The stair-climbing cleaning robot according to claim 2, characterized in that: The lifting mechanism includes a driving motor and a ball screw. One end of the ball screw is fixed to the upper main board, and the other end passes through the lower main board through a bearing and is connected to the driving motor. The driving motor and the ball screw are arranged in pairs to respectively realize the sequential lifting and lowering of the dust collection mechanism and the floor washing mechanism.

4. The stair-climbing cleaning robot according to claim 2, characterized in that: The dust collection mechanism comprises a dust collector head and a dust collector barrel. The dust collector barrel is mounted on the upper main board and extends toward the lower main board. The dust collector heads are arranged in pairs on both sides of the Mecanum wheel chassis and are connected to the dust collector barrel.

5. The stair-climbing cleaning robot according to claim 4, characterized in that: The floor washing mechanism comprises a mop head and a clean water tank, wherein the clean water tank is mounted on the upper main board and extends toward the lower main board, and the mop heads are arranged in pairs behind the vacuum cleaner head and are connected to the clean water tank.

6. The stair-climbing cleaning robot according to claim 2, characterized in that: The support mechanism includes a support rod and a support wheel, the support rod and the support wheel are arranged in pairs, one end of the support rod is installed on the upper main board, and the other end passes through the lower main board and extends downward, and the support wheel is fixed to the end of the support rod.

7. The stair-climbing cleaning robot according to claim 2, characterized in that: The adjustment device includes a width adaptive mechanism and a height adaptive mechanism. The width adaptive mechanism is arranged between the upper main board and the lower main board. The width adaptive mechanism is arranged directly above the Mecanum wheel chassis to adapt to stairs of different widths. The height adaptive mechanism is arranged above the side of the Mecanum wheel chassis and is connected to the width adaptive mechanism to adapt to stairs of different heights.

8. The stair-climbing cleaning robot according to claim 2, characterized in that: The collision mechanism includes a collision rod, a lateral guide column, a ground wheel guide column, a spring and a linear bearing. The collision rod is fixed on the dust suction mechanism. The collision rod, the lateral guide column, the ground wheel guide column and the linear bearing are connected in sequence. The spring is sleeved on the ground wheel guide column.

9. A control system for the stair-climbing cleaning robot according to any one of claims 1 to 8, characterized in that: It comprises a sensor unit and a control unit, wherein the sensor unit comprises a step detection sensor, a photoelectric sensor and a collision sensor, the step detection sensor is electrically connected to the control unit, the control unit is electrically connected to the cleaning device, the photoelectric sensor is electrically connected to the control unit, the control unit is electrically connected to the adjustment device, the collision sensor is arranged on the collision mechanism and is electrically connected to the control unit, and the control unit is electrically connected to the Mecanum wheel chassis; The control unit is electrically connected to the lifting mechanism; It also includes a Slam unit for detecting the stair environment and the robot's operating status and automatically adjusting the robot's route.

10. A control method for the stair-climbing cleaning robot according to any one of claims 1 to 8, characterized in that: The following steps are involved: Obtain the start signal of the lifting mechanism, and the control unit controls the Mecanum wheel chassis to rise, fall, move forward or backward; Acquiring the surface condition of the stairs, the control unit controls the regulating device and the cleaning device to adapt to the surface condition of the stairs; Obstacle signals from the collision mechanism are obtained, and the control unit controls the Mecanum wheel chassis to change direction.

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