Intelligent sweeping robot capable of climbing stairs

Abstract

The invention relates to the technical field of smart home, in particular to an intelligent stair-climbing sweeping robot which comprises a chassis, a main machine body device, a supporting reciprocating telescopic device, a large arm device and a small arm device, the main machine body device is arranged at the top of the chassis, and the supporting reciprocating telescopic device is arranged on one side of the upper surface of the chassis; the machine body adapts to the vertical change of the stairs, the stability of the machine body is kept, and vibration is reduced. During stair cleaning operation, the large arm device lifts or descends the main machine body device to a target stair step surface and supports the reciprocating telescopic device to stabilize a machine body, stability in the cleaning process is ensured, vibration is reduced, and during plane cleaning, the large arm device and the small arm device can be folded to the two sides of the main machine body device, so that space is saved; therefore, the operation flexibility and the space utilization rate are improved, and the problems that a traditional stair-climbing sweeping robot is too large in size and not compact in structure are effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, in particular to an intelligent stair-climbing sweeping robot. Background Art

[0002] With the rapid development of the economy, people's consumption level and quality of life are constantly improving, and the demand for smart home devices is also increasing. Smart home devices not only improve the convenience of the family, but also indirectly promote economic development by saving time and reducing labor intensity. In the process of urbanization, land resources are becoming increasingly scarce, resulting in residential buildings tending to be multi-layered and high-rise. Although this multi-level residential design improves land use efficiency, it also brings new cleaning challenges, especially areas such as stairs that are difficult to effectively clean with traditional cleaning tools. Therefore, the demand for cleaning equipment that adapts to the terrain of stairs is increasing. As an important channel connecting different floors, the cleanliness of stairs directly affects the daily life of residents and the overall sanitary environment of the house. Regularly cleaning stairs can not only reduce the occurrence of safety accidents such as slips, but also improve the aesthetics of the house and the happiness of residents.

[0003] The current sweeping robots on the market generally have a design limitation, that is, their "chassis" is relatively low, which means that they often cannot directly cross small steps or thresholds, and can only choose to take a detour, thus failing to effectively clean the upper layer of the steps and failing to effectively cover all areas of multi-story houses. At the same time, the cleaning of stair steps still requires users to do it themselves, which undoubtedly increases the burden of housework.

[0004] The research on sweeping robots that can climb stairs in academia and industry mainly includes three methods: wheel-type, track-type, and screw-type. The sweeping robots that can climb stairs implemented by the above methods have the problem of large size and non-compactness, which not only affects its maneuverability in narrow spaces, but also limits its application on ordinary residential stairs. Due to their complex mechanical structures, wheel-type and track-type robots are often large in size, which leads to structural non-compactness. In particular, the design needs to accommodate additional drive systems and power transmission components, which further increases the size of the sweeping robot. Although the screw-type provides a compact mechanical design in theory, its increased height also has higher requirements for space, which limits its application in low environments. Therefore, the development of a sweeping robot that can climb stairs intelligently and has a compact structure is of great significance for promoting the application of intelligent technology in the field of smart homes and improving the convenience and happiness index of residents. Summary of the invention

[0005] The purpose of the present invention is to overcome the above problems or at least partially solve the above problems, and to propose an intelligent stair-climbing sweeping robot.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent stair-climbing sweeping robot, comprising a chassis, a main body device, a supporting reciprocating telescopic device, a large arm device and a small arm device, wherein the main body device is arranged on the top of the chassis, and a supporting reciprocating telescopic device is arranged on one side of the upper surface of the chassis and is located inside the main body device, so as to adapt the body to the vertical changes of the stairs, maintain the stability of the body and reduce vibration, large arm devices are rotatably arranged on both sides of the main body device, and a small arm device is rotatably arranged on the outer side of the large arm device, and under the power of the large arm device itself, the large arm device and the small arm device swing to drive the main body device to go up and down the stairs, and a mopping mechanism capable of linear reciprocating movement is arranged inside the small arm device for cleaning the stairs.

[0007] In a preferred embodiment, the main body device includes a power supply module, a central control module and an autonomous navigation module arranged inside the main body device;

[0008] The central control module is used to control the main body device, the big arm device, the small arm device and the supporting reciprocating telescopic device to jointly perform the stair cleaning work;

[0009] The autonomous navigation module includes a laser radar, a camera and a laser ranging sensor, which are used to comprehensively scan the surrounding environment, collect data information and transmit it to the central control module, and are used to build a contour map of the environment to achieve spatial positioning and obstacle recognition.

[0010] In a preferred embodiment, the supporting reciprocating telescopic device includes a support frame, a support frame motor, a support plate, a transmission gear and a T-shaped telescopic rod. The support frame is arranged on one side of the upper surface of the chassis, the support frame motor is arranged on the top of the support frame, a connecting shaft is arranged on the inner top of the support frame, the outer end of the connecting shaft extends out of the support frame and is provided with a support plate, the outer wall of the connecting shaft and the output end of the support frame motor are provided with mutually meshing transmission gears on the same side, a T-shaped transmission shaft is arranged on the outer edge of the support plate, a strip opening is opened on the outer top of the T-shaped telescopic rod, the T-shaped telescopic rod is sleeved on the T-shaped transmission shaft matched with the outer side of the support plate through the strip opening, and the outer sleeve of the T-shaped telescopic rod is arranged on the chassis.

[0011] In a preferred embodiment, the boom device includes a boom cover arranged on the inner side thereof, and a boom motor cover is provided at the inner end and the outer end diagonally to the inner end of the boom cover, and a boom motor is provided in the boom motor cover, and the output end of the boom motor passes through the boom cover and is provided with a flange coupling, and the boom motor is connected to the main body device and the outer shaft of the small arm device at the corresponding position through the flange coupling.

[0012] In a preferred embodiment, the mopping mechanism includes a mopping motor support frame connected to the inner wall of the small arm device and a linear reciprocating moving component, a mopping motor is arranged on the top of the mopping motor support frame, and a synchronous wheel is arranged on the bottom of the mopping motor support frame extending from the output end of the mopping motor;

[0013] The linear reciprocating motion component includes limiters arranged on both sides of the inner side of the small arm device, round rods are arranged at both ends of the inner side of the limiter, sliders are arranged on both sides of the outer wall of the round rod, a slider cover is detachably arranged on the top of the slider, the slider and the slider cover are slidably matched with the round rod, a fixing frame is arranged on the inner side of the slider, a side rod is rotatably arranged on the top of the fixing frame, an intermediate rod is rotatably connected to the inner end of the side rod, a driven wheel is arranged on the top of the intermediate rod, a synchronous belt is tightly sleeved on the outer wall of the synchronous wheel and the driven wheel, a large mopping block and a large mop are arranged at the bottom of one of the sliders, and a small mopping block and a small mop are arranged at the bottom of the other slider.

[0014] In a preferred embodiment, a dust suction assembly is further provided on the upper surface of the chassis and located inside the main body device, and the dust suction assembly includes a dust suction fan, a dust box, a dust hood, a dust hood side cover and a dust suction roller. The two sides of the dust hood are connected to the inner wall of the main body device, a dust suction roller is provided at the bottom of the dust hood, and the bottom of the dust suction roller extends out of the chassis, a dust box is provided on one side of the dust hood, a dust suction fan is provided on one side of the dust box, the dust hood side covers are provided on both sides of the dust hood, and the outer shaft of the dust suction roller extends out of the dust hood side cover and is connected to the output end of the roller drive motor, and the roller drive motor is provided on the upper surface of the chassis.

[0015] In a preferred embodiment, dust suction fan fixing frames are provided on both sides of the dust suction fan, and the bottom of the dust suction fan fixing frames is connected to the chassis.

[0016] In a preferred embodiment, side brush motors are provided at both ends of one side of the upper surface of the chassis, and the output end of the side brush motor extends out of the lower surface of the chassis and is provided with a side brush.

[0017] In a preferred embodiment, a roller drive motor is disposed at the middle of the upper surface of the chassis and at both ends of one side, and a roller is disposed at the output end of the roller drive motor, and a part of the roller extends out of the lower surface of the chassis.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention facilitates the flexible operation of the sweeping robot in a narrow space through the large arm device, the small arm device and the supporting reciprocating telescopic device. When cleaning stairs, the large arm device lifts or lowers the main body device to the target stair step surface, and supports the reciprocating telescopic device to stabilize the body, thereby ensuring stability and reducing vibration during the cleaning process. When cleaning a flat surface, the large and small arm devices can be folded to both sides of the main body device to save space, thereby improving operational flexibility and space utilization, and effectively solving the problems of traditional stair-climbing sweeping robots being too large and having a non-compact structure.

[0020] 2. The present invention is provided with a central control module, an autonomous navigation module, a power module and other structures inside the main body device. The laser radar and camera in the autonomous navigation module scan the surrounding environment and transmit the collected information to the central control module. The central control module intelligently adjusts the chassis driving speed and direction according to the environmental information to achieve accurate spatial positioning and obstacle recognition, and can effectively realize intelligent automatic sweeping and mopping of the whole house, autonomous climbing of stairs, and realize full-process automation and intelligent cleaning of multi-story houses, which greatly improves the user's life convenience and happiness. The central control module can control the power output of the power module and the operation of the large and small arm devices to ensure the continuity and effectiveness of the cleaning task. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the unfolded upper arm device and the lower arm device of the present invention;

[0023] Figure 3 It is a schematic diagram of the three-dimensional structure of the supporting reciprocating telescopic device of the present invention;

[0024] Figure 4 It is a three-dimensional structural schematic diagram of the mopping mechanism in the small arm device of the present invention;

[0025] Figure 5 It is a schematic diagram of the three-dimensional structure of the upper arm cover of the present invention;

[0026] Figure 6 It is a three-dimensional structural schematic diagram of the dust collection component in the main body device of the present invention;

[0027] Figure 7 It is a side structural schematic diagram of the present invention.

[0028] In the figure: 1. Roller drive motor; 2. Chassis; 3. Support frame; 4. Support frame motor; 5. Support plate; 6. Transmission gear; 7. Side brush motor; 8. Support reciprocating telescopic device; 9. Big arm device; 10. Small arm device; 11. Laser radar; 12. Central control module; 13. Big arm motor cover; 14. Roller; 15. Big arm motor; 16. Roller drive motor; 17. Dust fan; 18. Power module; 19. Dust box; 20. Dust fan fixing bracket; 21. Flange coupling; 22. Mopping Motor; 23. Mopping motor support frame; 24. Laser ranging sensor; 25. Limiter; 26. Round rod; 27. Slider cover; 28. Slider; 29. ​​Fixed frame; 30. Large mopping block; 31. Synchronous wheel; 32. Synchronous belt; 33. Driven wheel; 34. Middle rod; 35. Side rod; 36. Small mopping block; 37. Large mop; 38. Small mop; 39. Dust hood; 40. Dust hood side cover; 41. Dust roller; 42. Side brush; 43. Main body device; 44. Upper arm cover; 45. T-shaped telescopic rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-7 The present invention provides a technical solution: an intelligent stair-climbing sweeping robot, comprising a chassis 2, a main body device 43, a supporting reciprocating telescopic device 8, a large arm device 9 and a small arm device 10. The main body device 43 is arranged on the top of the chassis 2, and a supporting reciprocating telescopic device 8 is arranged on one side of the upper surface of the chassis 2 and is located inside the main body device 43, so as to adapt the machine body to the vertical changes of the stairs, maintain the stability of the machine body and reduce vibration. The main body device 43 is rotatably provided with large arm devices 9 on both sides, and the small arm device 10 is rotatably provided on the outer side of the large arm device 9. Under the power of the large arm device 9 itself, the large arm device 9 and the small arm device 10 swing to drive the main body device 43 to go up and down the stairs. A mopping mechanism capable of linear reciprocating movement is arranged inside the small arm device 10 for cleaning the stairs.

[0031] When performing the task of cleaning stairs, the large and small arm devices can lift the main body device 43 to the target stair step surface, and the supporting reciprocating telescopic device 8 is used to stabilize the body after reaching the target step surface, ensuring the stability of the entire body and reducing vibration. When performing flat cleaning, the large and small arm devices are located on both sides of the main body device 43 in a folded form with the large arm device 9 on the inside to save space.

[0032] In a specific implementation, the main body device 43 includes a power module 18, a central control module 12 and an autonomous navigation module arranged therein;

[0033] The central control module 12 is used to control the main body device 43, the big arm device 9, the small arm device 10 and the supporting reciprocating telescopic device 8 to jointly perform the stair cleaning work, and is also used to establish a signal connection between the upper and lower computers to achieve efficient data exchange and command transmission, and is used to adjust the speed and direction of the body drive to meet different cleaning operation requirements. The central control module 12 adopts the Ubuntu system, has better programmability, can better realize intelligent cleaning, and realize the remote one-key start function;

[0034] The autonomous navigation module includes a laser radar 11, a camera and a laser ranging sensor 24, which are responsible for comprehensively scanning the surrounding environment, collecting data information and transmitting it to the central control module 12, and used to construct a contour map of the environment to achieve spatial positioning and obstacle recognition.

[0035] During specific implementation, the supporting reciprocating telescopic device 8 includes a support frame 3, a support frame motor 4, a support plate 5, a transmission gear 6 and a T-shaped telescopic rod 45. The support frame 3 is arranged on one side of the upper surface of the chassis 2, and the support frame motor 4 is arranged on the top of the support frame 3. A connecting shaft is arranged on the inner top of the support frame 3, and the outer end of the connecting shaft extends out of the support frame 3 and is provided with a support plate 5. The outer wall of the connecting shaft and the output end of the support frame motor 4 are provided with a mutually meshing transmission gear 6 on the same side, and a T-shaped transmission shaft is arranged on the outer edge of the support plate 5. A strip opening is opened on the outer top of the T-shaped telescopic rod 45, and the T-shaped telescopic rod 45 is sleeved on the T-shaped transmission shaft matched with the outer side of the support plate 5 through the strip opening, and the outer sleeve of the T-shaped telescopic rod 45 is arranged on the chassis 2.

[0036] In specific implementation, the boom device 9 includes a boom cover 44 arranged on the inner side thereof, and a boom motor cover 13 is provided at the inner end and the outer end diagonally to the inner end of the boom cover 44, and a boom motor 15 is provided in the boom motor cover 13. The output end of the boom motor 15 passes through the boom cover 44 and is provided with a flange coupling 21. The boom motor 15 is connected to the main body device 43 at the corresponding position and the outer shaft of the small arm device 10 through the flange coupling 21.

[0037] In specific implementation, the mopping mechanism includes a mopping motor support frame 23 connected to the inner wall of the small arm device 10 and a linear reciprocating moving component, a mopping motor 22 is arranged on the top of the mopping motor support frame 23, and the output end of the mopping motor 22 extends out of the mopping motor support frame 23 and a synchronous wheel 31 is arranged at the bottom;

[0038] The linear reciprocating motion component includes a limiter 25 arranged on both sides of the inside of the small arm device 10, and round rods 26 are arranged at both ends of the inner side of the limiter 25, and sliders 28 are arranged on both sides of the outer wall of the round rod 26. A slider cover 27 is detachably arranged on the top of the slider 28, and the slider 28 and the slider cover 27 are slidably matched with the round rod 26. A fixing frame 29 is arranged on the inner side of the slider 28, and a side rod 35 is rotatably arranged on the top of the fixing frame 29. The inner end of the side rod 35 is rotatably connected to an intermediate rod 34, and a driven wheel 33 is arranged on the top of the intermediate rod 34. A synchronous belt 32 is tightly sleeved on the outer walls of the synchronous wheel 31 and the driven wheel 33. A large mopping block 30 and a large mop 37 are arranged at the bottom of one slider 28, and a small mopping block 36 and a small mop 38 are arranged at the bottom of the other slider 28.

[0039] During specific implementation, a dust collection assembly is further provided on the upper surface of the chassis 2 and is located in the main body device 43. The dust collection assembly includes a dust collection fan 17, a dust box 19, a dust cover 39, a dust cover side cover 40 and a dust collection roller 41. Both sides of the dust cover 39 are connected to the inner wall of the main body device 43. A dust collection roller 41 is provided at the bottom of the dust cover 39. The bottom of the dust collection roller 41 extends out of the chassis 2. A dust box 19 is provided on one side of the dust cover 39. A dust collection fan 17 is provided on one side of the dust box 19. The dust cover side cover 40 is provided on both sides of the dust cover 39. The outer shaft of the dust collection roller 41 extends out of the dust cover side cover 40 and is connected to the output end of the drum drive motor 1. The drum drive motor 1 is provided on the upper surface of the chassis 2.

[0040] The dust collecting fan 17 is started by controlling the central control module 12 to generate negative pressure, thereby creating a strong suction force, and at the same time driving the roller drive motor 1 to drive the dust collecting roller 41 to rotate. During the rotation process, the dust collecting roller 41 sweeps up the dust and debris on the ground and adsorbs them to the surface of the roller. The dust and debris enter the dust box installed on the lower side of the dust collecting fan through the dust suction port, so as to capture and block the dust, ensuring that the dust and impurities on the ground are effectively removed.

[0041] In a specific implementation, dust collecting fan fixing frames 20 are provided on both sides of the dust collecting fan 17 , and the bottom of the dust collecting fan fixing frames 20 is connected to the chassis 2 .

[0042] In specific implementation, side brush motors 7 are provided at both ends of one side of the upper surface of the chassis 2, and the output end of the side brush motor 7 extends out of the lower surface of the chassis 2 and is provided with a side brush 42. The side brush motor 7 drives the side brush 42 to rotate, so that the ground can be cleaned.

[0043] In specific implementation, roller drive motors 16 are provided in the middle of the upper surface of the chassis 2 and at both ends of one side, and rollers 14 are provided at the output ends of the roller drive motors 16. A part of the roller 14 extends out of the lower surface of the chassis 2, and the roller 14 is driven to rotate by the roller drive motor 16, which can be used for the movement of the machine body.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent stair-climbing sweeping robot, characterized in that: The invention comprises a chassis (2), a main body device (43), a supporting reciprocating telescopic device (8), a large arm device (9) and a small arm device (10). The main body device (43) is arranged on the top of the chassis (2). The supporting reciprocating telescopic device (8) is arranged on one side of the upper surface of the chassis (2) and is located inside the main body device (43) so as to adapt the machine body to the vertical change of the stairs, maintain the stability of the machine body and reduce vibration. The large arm devices (9) are rotatably arranged on both sides of the main body device (43). The small arm device (10) is rotatably arranged on the outer side of the large arm device (9). Under the power of the large arm device (9), the large arm device (9) and the small arm device (10) swing to drive the main body device (43) to go up and down the stairs. The small arm device (10) is arranged inside with a mopping mechanism capable of linear reciprocating movement for cleaning the stairs.

2. The intelligent stair-climbing sweeping robot according to claim 1, characterized in that: The main body device (43) includes a power module (18), a central control module (12) and an autonomous navigation module arranged inside the main body device (43); The central control module (12) is used to control the main body device (43), the upper arm device (9), the lower arm device (10) and the supporting reciprocating telescopic device (8) to jointly perform stair cleaning work; The autonomous navigation module comprises a laser radar (11), a camera and a laser ranging sensor (24), which is responsible for comprehensively scanning the surrounding environment, collecting data information and transmitting it to the central control module (12), and is used to construct a contour map of the environment to achieve spatial positioning and obstacle recognition.

3. The intelligent stair-climbing sweeping robot according to claim 2, characterized in that: The supporting reciprocating telescopic device (8) comprises a supporting frame (3), a supporting frame motor (4), a supporting plate (5), a transmission gear (6) and a T-shaped telescopic rod (45); the supporting frame (3) is arranged on one side of the upper surface of the chassis (2); the supporting frame motor (4) is arranged on the top of the supporting frame (3); a connecting shaft is arranged on the inner top of the supporting frame (3); the outer end of the connecting shaft extends out of the supporting frame (3) and is provided with a supporting plate (5); a transmission gear (6) meshing with each other is arranged on the same side of the outer wall of the connecting shaft and the output end of the supporting frame motor (4); a T-shaped transmission shaft is arranged on the outer edge of the supporting plate (5); a strip-shaped opening is opened on the outer top of the T-shaped telescopic rod (45); the T-shaped telescopic rod (45) is sleeved on a T-shaped transmission shaft matched with the outer side of the supporting plate (5) through the strip-shaped opening; and the outer sleeve of the T-shaped telescopic rod (45) is arranged on the chassis (2).

4. The intelligent stair-climbing sweeping robot according to claim 3, characterized in that: The boom device (9) includes a boom cover (44) arranged on the inner side thereof, and a boom motor cover (13) is arranged at the inner end and the outer end of the boom cover (44) which is diagonally opposite to the inner end. A boom motor (15) is arranged inside the boom motor cover (13), and an output end of the boom motor (15) passes through the boom cover (44) and is provided with a flange coupling (21). The boom motor (15) is connected to the main body device (43) and the outer shaft of the small arm device (10) at the corresponding position through the flange coupling (21).

5. The intelligent stair-climbing sweeping robot according to claim 4, characterized in that: The mopping mechanism comprises a mopping motor support frame (23) connected to the inner wall of the small arm device (10) and a linear reciprocating motion component, a mopping motor (22) is arranged on the top of the mopping motor support frame (23), and a synchronous wheel (31) is arranged at the bottom of the mopping motor support frame (23) at the output end of the mopping motor (22); The linear reciprocating moving assembly comprises a stopper (25) arranged on both sides of the inside of the small arm device (10), round rods (26) are arranged at both ends of the inner side of the stopper (25), sliders (28) are arranged on both sides of the outer wall of the round rod (26), a slider cover (27) is detachably arranged on the top of the slider (28), the slider (28) and the slider cover (27) are slidably matched with the round rod (26), a fixing frame (29) is arranged on the inner side of the slider (28), and the fixing frame (29) is arranged on the inner side of the slider (28). A side rod (35) is rotatably provided at the top of the slider (29), the inner end of the side rod (35) is rotatably connected to an intermediate rod (34), a driven wheel (33) is provided at the top of the intermediate rod (34), a synchronous belt (32) is tightly sleeved on the outer wall of the synchronous wheel (31) and the driven wheel (33), a large mopping block (30) and a large mopping cloth (37) are provided at the bottom of one of the sliders (28), and a small mopping block (36) and a small mopping cloth (38) are provided at the bottom of the other slider (28).

6. The intelligent stair-climbing sweeping robot according to claim 5, characterized in that: A dust collection assembly is also arranged on the upper surface of the chassis (2) and located in the main body device (43). The dust collection assembly comprises a dust collection fan (17), a dust box (19), a dust cover (39), a dust cover side cover (40), a dust collection roller (41) and a roller drive motor (1). Both sides of the dust cover (39) are connected to the inner wall of the main body device (43). A dust collection roller (41) is arranged at the bottom of the dust cover (39). The bottom of the dust collection roller (41) extends out of the chassis (2). A dust box (19) is arranged on one side of the dust cover (39). A dust collection fan (17) is arranged on one side of the dust box (19). The dust cover side cover (40) is arranged on both sides of the dust cover (39). The outer shaft of the dust collection roller (41) extends out of the dust cover side cover (40) and is connected to the output end of the roller drive motor (1). The roller drive motor (1) is arranged on the upper surface of the chassis (2).

7. The intelligent stair-climbing sweeping robot according to claim 6, characterized in that: Dust suction fan fixing frames (20) are provided on both sides of the dust suction fan (17), and the bottom of the dust suction fan fixing frame (20) is connected to the chassis (2).

8. An intelligent stair-climbing sweeping robot according to any one of claims 1 to 7, characterized in that: Side brush motors (7) are provided at both ends of one side of the upper surface of the chassis (2), and the output end of the side brush motor (7) extends out of the lower surface of the chassis (2) and is provided with a side brush (42).

9. The intelligent stair-climbing sweeping robot according to claim 8, characterized in that: A roller drive motor (16) is provided at the middle of the upper surface of the chassis (2) and at both ends of one side, and a roller (14) is provided at the output end of the roller drive motor (16), and a portion of the roller (14) extends out of the lower surface of the chassis (2).

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