Lifting type cleaning robot capable of climbing steps and climbing method thereof

Abstract

The invention discloses a lifting type cleaning robot capable of climbing steps and a climbing method of the lifting type cleaning robot. The lifting type cleaning robot comprises a robot body, a walking mechanism, a climbing telescopic mechanism, a cleaning mechanism and a sensor module. The robot can clean the flat ground, can climb stairs in a lifting mode to clean up and down floors, and can sweep narrow spaces such as the bed bottom through the compact structure, so that comprehensive cleaning is achieved; manual intervention is not needed, the time and energy of a user are saved, and the cleaning efficiency is improved; by means of a sensor and a control strategy, a user can control starting, stopping, sweeping modes and the like of the robot, the robot can also conduct autonomous adjustment, and intelligent cleaning is achieved. Compared with a traditional sweeping robot and a traditional dust collector which are used separately, the storage space can be saved, and the occupied space of cleaning equipment is reduced.

Description

Technical Field

[0001] The invention relates to a cleaning robot, in particular to a lifting cleaning robot capable of climbing stairs and a climbing method thereof. Background Art

[0002] With the continuous development of the smart home market and the changes in consumer demand, the climbing lift sweeping robot is also showing a trend of diversification. The climbing lift sweeping robot is an automated household cleaning device that can sweep and vacuum without human intervention and automatically bypass obstacles when they are detected. Although the climbing lift sweeping robot has made progress in intelligence and cleaning efficiency, there are still some limitations in specific environments. For example, the existing climbing lift sweeping robot structure on the market cannot climb stairs to the upper floors for cleaning, which limits their application in duplex structures, villas and other residences with stairs. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides a lifting cleaning robot capable of climbing stairs and a climbing method thereof, which can climb stairs and clean them by itself, thereby expanding the cleaning space and improving the cleaning efficiency.

[0004] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: a lifting cleaning robot capable of climbing stairs, comprising a body, a walking mechanism, a climbing telescopic mechanism, a cleaning mechanism and a sensor module, wherein the cleaning mechanism is arranged at the bottom of the body; the climbing telescopic mechanism comprises a telescopic arm and a telescopic bracket, the telescopic arm is a rectangular box structure with an open bottom surface, the telescopic bracket is arranged inside the telescopic arm, the telescopic arm comprises a left telescopic arm and a right telescopic arm, and the telescopic bracket comprises a left telescopic bracket and a right telescopic bracket; The left and right sides of the fuselage are respectively connected to the left telescopic arm and the right telescopic arm in a sliding manner through rails. A gear is provided at the rear of the side of the fuselage. The inner sides of the left telescopic arm and the right telescopic arm are provided with racks, and the gears are meshed with the racks. The telescopic bracket includes an upper "X"-shaped connecting rod, a lower "X"-shaped connecting rod and an electric push rod. The two bottom ends of the upper "X"-shaped connecting rod are correspondingly hinged to the two top ends of the lower "X"-shaped connecting rod. One of the two top ends of the upper "X"-shaped connecting rod is directly hinged to the top surface of the telescopic arm, and the other top end is hinged with a slider, which is connected to the top surface of the telescopic arm through a slide. One of the two bottom ends of the lower "X"-shaped connecting rod is directly hinged to the top surface of the fixed plate, and the other bottom end is hinged with a slider, which is hinged to the top surface of the fixed plate through a slide. One end of the electric push rod is hinged to the fixed plate, and the other end is hinged to the upper "X"-shaped connecting rod. The walking mechanism includes a wheel box and a driven wheel. A driving wheel is provided in the wheel box. The driven wheel is arranged at the front bottom of the fuselage. The lower parts of the left telescopic arm and the right telescopic arm are respectively connected to the wheel box through fixed plates. The top surface of the wheel box is connected to the bottom surface of the fixed plate. The width of the wheel box is smaller than the width of the telescopic arm, and the length of the wheel box is smaller than 1 / 2 of the length of the telescopic arm. The sensor module includes a first infrared sensor, a second infrared sensor, a first ultrasonic sensor, a second ultrasonic sensor and a third ultrasonic sensor. The first ultrasonic sensor and the second ultrasonic sensor are respectively arranged at the front of the upper and lower surfaces of the fuselage, the third ultrasonic sensor is arranged at the rear of the lower surface of the fuselage, the first infrared sensor is arranged at the front end surface of the fuselage, and the second infrared sensor is respectively arranged at the outer sides of the left telescopic arm and the right telescopic arm.

[0005] Furthermore, the cleaning mechanism includes two side brushes, a mop, a mop lifting rod, a water tank, a dust cup, a dust suction port, a roller brush and a negative pressure exhaust fan; the side brushes are arranged on the left and right sides of the front bottom of the fuselage, the mop is arranged at the rear of the bottom surface of the fuselage through the mop lifting rod, the dust suction port is opened in the middle of the bottom surface of the fuselage and a roller brush is arranged in the dust suction port, the water tank, the dust storage cup and the negative pressure exhaust fan are all arranged inside the fuselage, the negative pressure exhaust fan is connected to the dust suction port, the dust suction port is connected to the dust storage cup, and the water tank is connected to the mop lifting rod.

[0006] Furthermore, the lower parts of the left telescopic arm and the right telescopic arm are respectively connected to two wheel boxes via fixing plates, and the two wheel boxes on one side are arranged longitudinally front to back.

[0007] Furthermore, the driving wheel is a Mecanum wheel, and the driven wheel is a universal wheel; the driven wheel and the two side brushes are distributed in an isosceles triangle shape.

[0008] Furthermore, when the telescopic bracket is retracted, the wheel box is located inside the telescopic arm.

[0009] A climbing method of a lifting cleaning robot capable of climbing stairs comprises the following steps: When going upstairs: Step a: Identify stairs: When the first infrared sensor responds and the return value of the first ultrasonic sensor is within the preset value of the horizontal distance, the obstacle ahead is identified as stairs; Step b: Posture adjustment: The sweeping robot moves to the lower end of the stairs through the driving wheels, with the front end of the sweeping robot facing the steps, and the left telescopic arm and the right telescopic arm resting against the steps; Step c: preparing the fuselage: the electric push rod controls the left telescopic bracket and the right telescopic bracket to extend vertically until the first infrared sensor does not respond and the return value of the second ultrasonic sensor stops extending within the preset height value, thereby lifting the fuselage to the height of the stair steps; Step d: Climbing the fuselage: Keep the telescopic arm stationary without rotating the driving wheel, and coordinate the gear and rack to control the forward movement of the fuselage relative to the ground, so that the fuselage falls on the steps; Step e: Climbing of the telescopic arm: the electric push rod first controls the telescopic bracket on one side to shrink vertically until it is in a fully retracted state, and then the gear and rack cooperate to control the telescopic arm on this side to move forward to a reset state. At this time, the driving wheel on this side is placed on the first step, and the climbing of the telescopic arm on this side is completed. Then, the same steps are followed to complete the climbing of the telescopic arm on the other side. Step f: Climbing is completed: After the body and the telescopic arm have completed climbing, the sweeping robot performs cleaning work on the steps of the stairs; When going downstairs: Step A: Identify stairs: When the return value of the third ultrasonic sensor is within the preset height value range, the obstacle ahead is identified as stairs; Step B: Posture adjustment: The sweeping robot moves to the upper end of the stairs through the driving wheels, at which point the rear end of the sweeping robot faces the steps, and the rear ends of the left telescopic arm and the right telescopic arm exceed the upper edge of the stairs; Step C: Lowering the telescopic bracket: Lower the lifting rod to lift the fuselage. First, the gear drives the rack on one side to move the telescopic arm on that side backward. Then, the electric push rod controls the telescopic bracket on that side to extend vertically until the driving wheel on that side touches the step of the stairs. At this point, the telescopic bracket on one side is lowered. Then, follow the same steps to lower the telescopic bracket on the other side. Step D: Preparation of the fuselage: Under the premise that the driving wheel does not rotate, the gear and the rack cooperate to control the fuselage to move backward until the fuselage and the telescopic arm coincide with each other, so that the fuselage falls on the step of the stairs; Step E: lowering the fuselage: the electric push rod controls the telescopic brackets on both sides to retract vertically until they are in a fully retracted state, thereby completing the lowering of the fuselage; Step G completes the task of going downstairs: After the telescopic arm and the body are lowered, the sweeping robot performs cleaning work on the steps of the stairs.

[0010] Compared with the prior art, the present invention can not only clean the flat ground, but also climb stairs by lifting to clean the upper and lower floors. There is no need to use a vacuum cleaner to clean the steps, which reduces the use of cleaning equipment and the space occupied. Moreover, the compact structure can realize the cleaning of narrow spaces such as under the bed, thereby achieving comprehensive cleaning; the robot can automatically go up and down the floors without manual handling, saving the user's time and energy and improving cleaning efficiency; through the equipped sensors and control strategies, the user can control the robot's start and stop, cleaning mode, etc., and the robot can also make autonomous adjustments to achieve intelligent cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the internal structure of the fuselage of the present invention; Figure 3 It is a bottom view of the present invention; Figure 4 This is a schematic diagram of the process of going upstairs according to the present invention; 1. Body; 2. Side brush; 3. Suction port; 4. Roller brush; 5. Dust cup; 6. Negative pressure exhaust fan; 7. Mop; 8. Mop lifting rod; 9. Water tank; 10. Driving wheel; 11. Driven wheel; 12. Gear; 13. Rack; 14. Left telescopic arm; 15. Left telescopic bracket; 16. Right telescopic arm; 17. Right telescopic bracket; 18. Upper "X"-shaped connecting rod; 19. Lower "X"-shaped connecting rod; 20. Electric push rod; 21. Fixed plate; 22. Wheel box; 23. First infrared sensor; 24. First ultrasonic sensor; 25. Second infrared sensor; 26. Second ultrasonic sensor; 27. Third ultrasonic sensor; 28. Side brush motor; 29. ​​Roller brush motor. DETAILED DESCRIPTION

[0012] The present invention will be further described below in conjunction with the accompanying drawings.

[0013] 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.

[0014] like Figures 1 to 3 As shown, the present invention includes a body 1, a walking mechanism, a climbing and telescopic mechanism, a cleaning mechanism and a sensor module. The cleaning mechanism is arranged at the bottom of the body 1, and the cleaning mechanism includes two side brushes 2, two liftable mops 7, a mop lifting rod 8, a water tank 9, a dust storage cup 5, a dust suction port 3, a roller brush 4 and a negative pressure exhaust fan 6; the side brushes 2 are arranged on the left and right sides of the front bottom of the body 1 through the side brush motor 28, the mop 7 is arranged at the rear of the bottom surface of the body 1 through the mop lifting rod 8, the dust suction port 3 is opened in the middle of the bottom surface of the body 1 and inside the dust suction port 3 A roller brush 4 is provided, which is driven by a roller brush motor 29. A water tank 9, a dust storage cup 5 and a negative pressure exhaust fan 6 are all arranged inside the fuselage 1. The negative pressure exhaust fan 6 is connected to the dust suction port 3, the dust suction port 3 is connected to the dust storage cup 5, and the water tank 9 is connected to the mop lifting rod 8. The climbing telescopic mechanism includes a telescopic arm and a telescopic bracket. The telescopic arm is a rectangular box structure with an open bottom. The telescopic bracket is arranged inside the telescopic arm. The telescopic arm includes a left telescopic arm 14 and a right telescopic arm 16. The telescopic bracket includes a left telescopic bracket 15 and a right telescopic bracket 17.

[0015] The left and right sides of the fuselage 1 are slidably connected to the left telescopic arm 14 and the right telescopic arm 16 through the rails, respectively. A gear 12 is provided at the rear of the side of the fuselage 1. The inner sides of the left telescopic arm 14 and the right telescopic arm 16 are provided with a rack 13, and the gear 12 is meshed with the rack 13; the telescopic bracket includes an upper "X"-shaped connecting rod 18, a lower "X"-shaped connecting rod 19 and an electric push rod 20, and the two bottom ends of the upper "X"-shaped connecting rod 18 are correspondingly hinged to the two top ends of the lower "X"-shaped connecting rod 18 One of the two top ends of the upper "X"-shaped connecting rod 18 is directly hinged to the top surface of the telescopic arm, and the other top end is hinged with a slider, which is connected to the top surface of the telescopic arm through a slide. One of the two bottom ends of the lower "X"-shaped connecting rod 19 is directly hinged to the top surface of the fixed plate 21, and the other bottom end is hinged with a slider, which is hinged to the top surface of the fixed plate 21 through a slide. One end of the electric push rod 20 is hinged to the fixed plate 21, and the other end is hinged to the upper "X"-shaped connecting rod 18.

[0016] The walking mechanism includes a wheel box 22 and a driven wheel 11. A driving wheel 10 is provided in the wheel box 22. The driven wheel 11 is arranged at the front bottom of the fuselage 1. The two wheel boxes 22 are connected to the left telescopic arm 14 and the right telescopic arm 16 respectively through the fixing plate 21. The two wheel boxes 22 on one side are arranged longitudinally front and back. The top surface of the wheel box 22 is connected to the bottom surface of the fixing plate 21. The width of the wheel box 22 is smaller than the width of the telescopic arm, and the length of the wheel box 22 is smaller than 1 / 2 of the length of the telescopic arm to ensure that when the telescopic bracket is retracted, the two wheel boxes 22 on one side can be located inside the telescopic arm; the driving wheel 10 is a Mecanum wheel, and the driven wheel 11 is a universal wheel; the driven wheel 11 and the two side brushes 2 are distributed in an isosceles triangle shape.

[0017] The sensor module includes a first infrared sensor 23, a second infrared sensor 25, a first ultrasonic sensor 24, a second ultrasonic sensor 26 and a third ultrasonic sensor 27. The first ultrasonic sensor 24 and the second ultrasonic sensor 26 are respectively arranged on the front of the upper and lower surfaces of the fuselage 1, and the third ultrasonic sensor 27 is arranged on the rear of the lower surface of the fuselage 1. The first infrared sensor 23 is arranged on the front end surface of the fuselage, and the second infrared sensor 25 is respectively arranged on the outer side surfaces of the left telescopic arm 14 and the right telescopic arm 16.

[0018] When the robot is cleaning the flat ground indoors, the side brush motor 28 drives the side brush 2 to rotate and sweep the garbage around the side brush 2 into the bottom of the body 1. The negative pressure exhaust fan 6 and the roller brush motor 29 are running, and the roller brush 4 assists in cleaning and sucks the garbage from the dust suction port 3 into the dust storage cup 5 to complete the flat sweeping work; the clean water in the water tank 9 can flow into the mop 7 in a quantitative manner through the hollow mop lifting rod 8. The mop lifting rod 8 is lowered and the mop 7 is rotated to realize the mopping function. In addition, when the ultrasonic intensity return value of the second ultrasonic sensor 26 on the front bottom of the body 1 is less than the preset value of the flat ground height, it is determined that the sweeping robot encounters a carpet. At this time, the mop 7 is lifted to prevent the carpet from being contaminated.

[0019] like Figure 4 As shown, when you encounter stairs and need to go upstairs, the steps are as follows: Step a: Identify the stairs: When the first infrared sensor 23 of the sweeping robot responds and the return value of the first ultrasonic sensor 24 is within the preset value of the horizontal distance, the obstacle in front is identified as a staircase; Step b: Position adjustment: The position of the sweeping robot is adjusted by running the driving wheel 10 and moved to the lower end of the stairs. At this time, the front end of the sweeping robot faces the stairs, and the left telescopic arm 14 and the right telescopic arm 16 rest against the first step to kick; Step c: Body preparation: The electric push rod 20 controls the left telescopic bracket 15 and the right telescopic bracket 17 to extend vertically until the first infrared sensor 23 does not respond and the return value of the second ultrasonic sensor 26 stops extending within the preset value of the height, thereby lifting the body 1 to the height of the first step of the stairs. At this time, the left telescopic bracket 15 and the right telescopic bracket 16 The bottom of the telescopic bracket 17 is supported on the fixed plate 21, and the upper part supports the fuselage 1; step d: the fuselage climbs: the telescopic arm is kept stationary without rotating the driving wheel 10, and the gear 12 and the rack 13 cooperate to control the fuselage 1 to move forward relative to the ground, so that the fuselage 1 falls on the step of the first step; step e: the telescopic arm climbs: the electric push rod 20 first controls the telescopic bracket on one side to shrink vertically until it is in a fully retracted state, and then the gear 12 and the rack 13 cooperate to control the telescopic arm on this side to move forward to a reset state. At this time, the driving wheel 10 on this side is placed on the step of the first step, and the telescopic arm on this side completes the climbing, and then the telescopic arm on the other side is completed according to the same steps; step f: climbing is completed: after the fuselage 1 and the telescopic arm have completed climbing, the sweeping robot performs cleaning work on the steps of the steps.

[0020] The sweeping robot starts the single-step stair cleaning mode in the going-up state. After initialization, the side brush 2 and the negative pressure exhaust fan 6 are running, the mop 7 is lifted and does not work, the robot moves laterally as a whole, and the second infrared sensor 25 is in a working state. When the return value of the second infrared sensor 25 on one side of the moving direction is less than the collision preset value, the robot moves laterally in the opposite direction as a whole and continues to clean the steps. When the return value of the second infrared sensor 25 on the reverse moving side is less than the collision preset value and the first infrared sensor 23 does not respond, the mop 7 descends and runs and moves forward a fixed distance as a whole each time. The robot continues to move laterally on the step surface and "sweeps and mops at the same time", which effectively avoids contamination of the mop 7 and improves cleaning efficiency. If the first infrared sensor 23 responds, it means that the single-step step has been cleaned, and the robot ends the step cleaning program in the going-up state.

[0021] When you encounter stairs and need to go downstairs, the steps are as follows: Step A: Identify the stairs: When the return value of the third ultrasonic sensor 27 of the sweeping robot is within the preset height value range, the obstacle in front is identified as a staircase; Step B: Posture adjustment: The sweeping robot posture is adjusted by running the driving wheel 10 and moved to the upper end of the stairs. At this time, the rear end of the sweeping robot faces the steps, and the rear end surfaces of the left telescopic arm 14 and the right telescopic arm 16 slightly exceed the upper edge of the stairs; Step C: Lower the telescopic bracket: Lower the lifting rod 8 so that the fuselage 1 is slightly lifted, and first the gear 12 drives the rack 13 on one side to move the telescopic arm on that side backward, and then the electric push rod 20 controls the telescopic bracket on that side to extend vertically until the driving wheel 10 on that side contacts To the step of the highest step, the telescopic bracket on one side is lowered, and then the telescopic bracket on the other side is lowered according to the same steps; Step D: Body preparation: Under the premise that the driving wheel 10 does not rotate, the gear 12 and the rack 13 cooperate to control the body 1 to move backward until the position of the body 1 and the telescopic arm coincide, so that the body 1 falls on the top of the step of the highest step. At this time, the two telescopic brackets can support the body 1; Step E: Body lowering: The electric push rod 20 controls the telescopic brackets on both sides to shrink vertically until they are in a fully retracted state, thereby completing the lowering of the body 1; Step G: Completing the task of going downstairs: After the telescopic arm and the body 1 are lowered, the sweeping robot performs cleaning work on the steps.

[0022] The sweeping robot starts the single-step stair cleaning mode in the going-downstairs state. After initialization, the side brush 2, the negative pressure exhaust fan 6 and the mop 7 are all running. The robot moves laterally on the stair tread surface and "sweeps and mops at the same time". When the return value of the second infrared sensor 25 is less than the collision preset value and the return value of the third ultrasonic sensor 27 is not within the height preset value, the robot as a whole moves forward a fixed distance each time to continue cleaning laterally; if the return value of the third ultrasonic sensor 27 is within the height preset value, it indicates that the secondary cleaning of the single-step stair is completed, and the robot ends the single-step stair cleaning program in the going-downstairs state.

[0023] It should be noted that during the lateral movement of the cleaning step robot, the left front driving wheel 10 and the right rear driving wheel 10 rotate forward, and the right front driving wheel 10 and the left rear driving wheel 10 rotate backward to achieve the lateral left movement of the robot as a whole; conversely, the robot as a whole moves laterally to the right.

[0024] The sweeping robot has modes such as omnidirectional movement, going up and down stairs, automatic obstacle avoidance, flat ground cleaning and step cleaning to complete the whole house cleaning of indoor buildings; after the sweeping robot is started, it can move omnidirectionally and drive freely on the indoor flat ground, and can execute the flat ground cleaning subroutine; when the first infrared sensor 23 responds, if the return value of the first ultrasonic sensor 24 is not within the preset value range of the horizontal distance (the preset value of the horizontal distance is the width of the stair steps in common civil buildings, i.e. 25cm~30cm), the obstacle is regarded as an ordinary obstacle, and the ordinary obstacle avoidance subroutine is executed; otherwise, the obstacle is regarded as a staircase, and the robot posture is preliminarily adjusted before cyclically executing the single-step stair upstairs subroutine, and then cyclically executing the stair cleaning subroutine in the upstairs state until both the first infrared sensor 23 and the second infrared sensor 25 do not respond and the first ultrasonic sensor 24 After the return value of 24 is greater than the preset value of the horizontal distance, the subroutine is exited; the flat ground cleaning subroutine is then executed, and the sweeping robot moves freely on the flat ground; if the return value of the third ultrasonic sensor 27 is within the preset height value range (the preset height value is the kick height of the common civil building stairs, i.e. 13cm~18cm), the sweeping robot needs to go downstairs, otherwise the sweeping robot will execute the upstairs subroutine or the flat ground cleaning subroutine according to the response of the first infrared sensor 23 and the first ultrasonic sensor 24; during the downstairs operation, the robot initially adjusts its posture and then cyclically executes the single-step downstairs subroutine, and then cyclically executes the downstairs state step cleaning subroutine, until the return value of the second ultrasonic sensor 26 is much smaller than the preset height value, then the subroutine is exited, and the sweeping robot returns to the flat ground.

[0025] During the entire cleaning operation of the sweeping robot, the first infrared sensor 23, the second infrared sensor 25 and the first ultrasonic sensor 24 can also be combined to realize the automatic obstacle avoidance function of the sweeping robot, including ordinary obstacle avoidance and anti-stuck.

[0026] Normal obstacle avoidance: When the first infrared sensor 23 or the second infrared sensor 25 responds, and the ultrasonic return value of the first ultrasonic sensor 24 is not within the preset value range of the step height, it is regarded as a normal obstacle, and the sweeping robot retreats and turns left or right 90° to avoid the obstacle. If the second infrared on the left side responds, it turns right, and if the second infrared on the right side responds, it turns left.

[0027] Anti-stuck is: due to the diversity of the actual environment and the limited detection range of the first infrared sensor 23 and the second infrared sensor 25, it is very likely that the sweeping robot cannot detect obstacles and thus falls into a blind spot. At this time, the ultrasonic return value of the first ultrasonic sensor 24 can be used. When the sweeping robot moves forward normally, it sends the distance return value of the first ultrasonic sensor 24 every 0.1 seconds, and compares the distance return values ​​of two adjacent first ultrasonic sensors 24 in real time. If the comparison values ​​differ by less than 2 cm, it is regarded as a possible stuck value. If the comparison values ​​corresponding to the ultrasonic distance return values ​​are all possible stuck values ​​within two consecutive seconds, the sweeping robot is regarded as being in a stuck state, and the sweeping robot retreats and turns 180° to leave the blind spot.

[0028] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any slight modification, equivalent substitution and improvement made to the above embodiment based on the technical essence of the present invention should be included in the protection scope of the technical solution of the present invention.

Claims

1. A lifting cleaning robot capable of climbing stairs, comprising a body (1), a walking mechanism, a climbing and telescopic mechanism, a cleaning mechanism and a sensor module, wherein the cleaning mechanism is arranged at the bottom of the body (1); characterized in that: The climbing telescopic mechanism comprises a telescopic arm and a telescopic bracket. The telescopic arm is a rectangular box structure with an open bottom. The telescopic bracket is arranged inside the telescopic arm. The telescopic arm comprises a left telescopic arm (14) and a right telescopic arm (16). The telescopic bracket comprises a left telescopic bracket (15) and a right telescopic bracket (17). The left and right sides of the body (1) are respectively slidably connected to the left telescopic arm (14) and the right telescopic arm (16) through rails; a gear (12) is provided at the rear of the side of the body (1); the inner sides of the left telescopic arm (14) and the right telescopic arm (16) are provided with a rack (13); the gear (12) and the rack (13) are meshed; the telescopic bracket comprises an upper "X"-shaped connecting rod (18), a lower "X"-shaped connecting rod (19) and an electric push rod (20); the two bottom ends of the upper "X"-shaped connecting rod (18) and the lower "X"-shaped connecting rod (18) are connected to the lower "X"-shaped connecting rod (18). The two top ends are hinged correspondingly, one of the two top ends of the upper "X"-shaped connecting rod (18) is directly hinged to the top surface of the telescopic arm, and the other top end is hinged to a slider, which is connected to the top surface of the telescopic arm through a slideway; one of the two bottom ends of the lower "X"-shaped connecting rod (19) is directly hinged to the top surface of the fixed plate (21), and the other bottom end is hinged to a slider, which is hinged to the top surface of the fixed plate (21) through a slideway; one end of the electric push rod (20) is hinged to the fixed plate (21), and the other end is hinged to the upper "X"-shaped connecting rod (18); The walking mechanism comprises a wheel box (22) and a driven wheel (11), wherein a driving wheel (10) is provided in the wheel box (22), and the driven wheel (11) is arranged at the front bottom of the machine body (1), and the lower parts of the left telescopic arm (14) and the right telescopic arm (16) are respectively connected to the wheel box (22) via a fixing plate (21), and the top surface of the wheel box (22) is connected to the bottom surface of the fixing plate (21), the width of the wheel box (22) is smaller than the width of the telescopic arm, and the length of the wheel box (22) is smaller than 1 / 2 the length of the telescopic arm; The sensor module comprises a first infrared sensor (23), a second infrared sensor (25), a first ultrasonic sensor (24), a second ultrasonic sensor (26) and a third ultrasonic sensor (27); the first ultrasonic sensor (24) and the second ultrasonic sensor (26) are respectively arranged at the front of the upper and lower surfaces of the fuselage (1); the third ultrasonic sensor (27) is arranged at the rear of the lower surface of the fuselage (1); the first infrared sensor (23) is arranged at the front end surface of the fuselage; and the second infrared sensor (25) is respectively arranged at the outer side surfaces of the left telescopic arm (14) and the right telescopic arm (16).

2. The step-climbing lifting cleaning robot according to claim 1, characterized in that: The cleaning mechanism comprises two side brushes (2), a mop (7), a mop lifting rod (8), a water tank (9), a dust storage cup (5), a dust suction port (3), a roller brush (4) and a negative pressure exhaust fan (6); the side brushes (2) are arranged on the left and right sides of the front bottom of the machine body (1); the mop (7) is arranged on the rear part of the bottom surface of the machine body (1) through the mop lifting rod (8); the dust suction port (3) is opened in the middle part of the bottom surface of the machine body (1) and a roller brush (4) is arranged in the dust suction port (3); the water tank (9), the dust storage cup (5) and the negative pressure exhaust fan (6) are all arranged inside the machine body (1); the negative pressure exhaust fan (6) is connected to the dust suction port (3); the dust suction port (3) is connected to the dust storage cup (5); and the water tank (9) is connected to the mop lifting rod (8).

3. The step-climbing lifting cleaning robot according to claim 1, characterized in that: The lower parts of the left telescopic arm (14) and the right telescopic arm (16) are respectively connected to two wheel boxes (22) via a fixing plate (21), and the two wheel boxes (22) on one side are arranged longitudinally front to back.

4. The stair-climbing lifting cleaning robot according to claim 1, characterized in that: The driving wheel (10) is a Mecanum wheel, and the driven wheel (11) is a universal wheel; the driven wheel (11) and the two side brushes (2) are distributed in the shape of an isosceles triangle.

5. The step-climbing lifting cleaning robot according to claim 3, characterized in that: When the telescopic bracket is retracted, the wheel box (22) is located inside the telescopic arm.

6. A climbing method for a stair-climbing lifting cleaning robot according to any one of claims 1 to 5, characterized in that: The following steps are involved: When going upstairs: Step a: identifying stairs: when the first infrared sensor (23) responds and the return value of the first ultrasonic sensor (24) is within a preset horizontal distance value, the obstacle ahead is identified as stairs; Step b: Posture adjustment: the sweeping robot moves to the lower end of the stairs via the driving wheel (10), with the front end of the sweeping robot facing the steps, and the left telescopic arm (14) and the right telescopic arm (16) resting against the steps; Step c: preparing the fuselage: the electric push rod (20) controls the left telescopic bracket (15) and the right telescopic bracket (17) to extend vertically until the first infrared sensor (23) does not respond and the return value of the second ultrasonic sensor (26) stops extending within the preset height value, thereby lifting the fuselage (1) to the height of the stair step; Step d: climbing the fuselage: the telescopic arm is kept stationary while the driving wheel (10) does not rotate, and the gear (12) and the rack (13) cooperate to control the fuselage (1) to move forward relative to the ground, so that the fuselage (1) falls on the step of the staircase; Step e: telescopic arm climbing: the electric push rod (20) first controls the telescopic bracket on one side to shrink vertically until it is in a fully retracted state, and then the gear (12) and the rack (13) cooperate to control the telescopic arm on this side to move forward to a reset state. At this time, the driving wheel (10) on this side is placed on the first step, and the telescopic arm on this side has completed climbing. Then, the telescopic arm on the other side is climbed according to the same steps; Step f: climbing is completed: after the body (1) and the telescopic arm have completed climbing, the sweeping robot performs cleaning work on the steps of the stairs; When going downstairs: Step A: identifying stairs: when the return value of the third ultrasonic sensor (27) is within a preset height value range, identifying the obstacle ahead as stairs; Step B: Posture adjustment: the sweeping robot moves to the upper end of the stairs via the driving wheel (10), with the rear end of the sweeping robot facing the steps, and the rear end surfaces of the left telescopic arm (14) and the right telescopic arm (16) exceeding the upper edge of the stairs; Step C: lowering the telescopic bracket: lowering the lifting rod (8) to lift the body (1), firstly the gear (12) drives the rack (13) on one side to move the telescopic arm on that side backward, then the electric push rod (20) controls the telescopic bracket on that side to extend vertically until the driving wheel (10) on that side contacts the step of the stairs, thus completing the lowering of the telescopic bracket on one side, and then following the same steps, completing the lowering of the telescopic bracket on the other side; Step D: Preparation of the machine body: Under the premise that the driving wheel (10) does not rotate, the gear (12) and the rack (13) cooperate to control the machine body (1) to move backward until the position of the machine body (1) and the telescopic arm coincide with each other, so that the machine body (1) falls on the step of the staircase; Step E: lowering the fuselage: the electric push rod (20) controls the telescopic brackets on both sides to retract vertically until they are in a fully retracted state, thereby completing the lowering of the fuselage (1); Step G completes the task of going downstairs: After the telescopic arm and the body (1) are lowered, the sweeping robot performs cleaning work on the steps of the stairs.

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