Intelligent stair cleaning equipment

Abstract

The invention discloses intelligent stair cleaning equipment which comprises two cleaning main machines and a mutual lifting mechanism which is connected between the two cleaning main machines and assists the two cleaning main machines to go upstairs and downstairs, and each cleaning main machine comprises a machine body, an environment sensing module, a negative pressure suction cup, a transverse walking module and a cleaning module. The machine body is a hollow shell internally provided with a dust collection fan and a dust tank, an opening is formed in the bottom side of the machine body, the transverse walking module is assembled in the opening, the transverse walking module is used for assisting the sweeping main machine to transversely move along a tread of a stair, and the transverse walking module comprises a lifting frame and Mecanum wheels which are distributed up and down; the mutual lifting mechanism comprises steering engines arranged on the two sides of the sweeping main machine and telescopic swing arms connected to the shaft ends of the steering engines, and the telescopic swing arms stretch out and draw back along with the action of the steering engines and conduct mutual lifting adjustment of the sweeping main machine. Through combined arrangement of the telescopic swing arms and the negative pressure suction cups, stable mutual lifting climbing and efficient sweeping operation of the intelligent stair sweeping equipment in a complex stair environment are achieved.

Description

Technical Field

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

[0002] With the acceleration of urbanization and the improvement of people's living standards, staircases are becoming increasingly common in multi-story residential buildings, commercial buildings, and public places. However, cleaning stairs has always been a difficult task in the cleaning industry. Traditional manual cleaning methods are not only labor-intensive and inefficient, but also difficult to meet the needs of frequent and efficient cleaning in some special scenarios (such as large shopping malls and hospitals).

[0003] In response to the above problems, some manufacturers have developed automated equipment for stair cleaning, including the following:

[0004] 1) Publication No. CN119632450A discloses a stair cleaning robot. In this patent application, it includes a moving mechanism, a lifting device is fixed on the upper end of the moving mechanism, and sweeping mechanisms are respectively provided on opposite sides of the lifting device. Horizontal moving devices are respectively fixed on opposite sides of the lifting device, and the sweeping mechanisms are connected to the horizontal moving devices one by one. The sweeping mechanism includes a connecting frame, at least one direction conversion device and at least one broom. The direction conversion device includes a first rotating joint, a cross bar and a second rotating joint. The first rotating joint is fixed to the lower end of the connecting frame, one end of the cross bar is rotatably connected to the first rotating joint, and the other end is fixed to the second rotating joint. A motor seat is rotatably connected to the second rotating joint, and a third motor is fixed on the motor seat. The drive shaft of the third motor is fixed to the broom one by one. The advantage is that it can automatically climb stairs and can clean both the horizontal and vertical surfaces of the stairs, so that the stairs can be cleaned comprehensively and thoroughly.

[0005] 2) Publication No. CN222323484U discloses an adaptive segmented automatic obstacle avoidance stair cleaning robot. In this patent application, it includes a cleaning module, a floor cleaning module, and a drying module connected in sequence from front to back along the forward direction of the stairs, as well as: a lifting device, including a first lifting device connected between the cleaning module and the floor cleaning module, and a second lifting device connected between the floor cleaning module and the drying module; a first laser radar and a camera, arranged at the front end of the cleaning module; a second laser radar, arranged on both sides of the floor cleaning module; a third laser radar, arranged at the lower end of the drying module; a first forward module and a second forward module for respectively controlling the forward and backward movement of the cleaning module and the drying module; a lateral drive module for driving the horizontal lateral movement of the floor cleaning module. The overall structure adopts a segmented structure, and the modules can perform cleaning, floor cleaning and drying operations synchronously, effectively improving the efficiency of stair cleaning.

[0006] 3) Publication No. CN120021907A discloses a stair cleaning device, which includes: a walking device, which can be installed on the handrail of the stair guardrail, and a driving mechanism is provided in the walking device, and the walking device can move along the stairs through the driving mechanism; a cleaning trolley, the bottom of the cleaning trolley has walking wheels, and the cleaning trolley is equipped with a stair cleaning mechanism; the walking device and the cleaning trolley are connected by a traveling cable, and the walking device can lift the cleaning trolley by retracting the traveling cable. The structure of the present invention is simple and reasonable, and two vertical guide wheels are provided in the walking device, so that the walking device can be installed on the handrail. After installation, the two guide wheels hold the handrail tightly to ensure the balance of the walking device. There is no need to install fixed guide rails in advance, which reduces costs.

[0007] Although existing automated equipment for stair cleaning solves the tedious and inefficient problems of traditional manual cleaning, it still has the following drawbacks:

[0008] Complex structure and volume issues:

[0009] The robotic device disclosed in CN119632450A integrates numerous components, including a moving mechanism, a lifting device, a horizontal moving device, and a complex sweeping mechanism. This complex structure makes the device bulky overall. When operating in a narrow stairway, it not only takes up a significant amount of space, hindering pedestrian access, but is also prone to collisions with stair railings, walls, and other components, causing damage to the device or disrupting proper cleaning.

[0010] Although the cleaning robot disclosed in CN222323484U adopts a segmented structure, which reduces its volume to a certain extent, it still has obvious disadvantages in the process of going downstairs. The device has a slow speed of going downstairs, mainly due to its segmented design and complex module coordination mechanism. When going downstairs, each module needs to adjust its action and change its position in turn to ensure the overall stability and safety of the equipment, which makes the entire process of going downstairs time-consuming. Moreover, the response speed and action coordination of its lifting device and drive module when going downstairs are limited, and it is impossible to quickly adapt to changes in the slope of the stairs, further reducing the efficiency of going downstairs. This slow speed of going downstairs not only affects the overall progress of the cleaning work, but also increases the use cost and time cost of the equipment, and cannot meet the needs of large-scale and high-efficiency stair cleaning.

[0011] Mobility Issues: In CN120021907A, the running device is mounted on the handrail of the stair guardrail. While pre-installed guide rails are not required, the handrails vary in shape, size, and material. This can cause the running device to slip or jam during operation, affecting the stability and mobility of the device. Furthermore, the device is highly dependent on the handrail; if the handrail is damaged or does not meet installation requirements, the device will not function properly.

[0012] Insufficient cleaning effect and comprehensiveness:

[0013] Although the robot device disclosed in CN119632450A can clean the horizontal and vertical surfaces of the stairs, the broom cleaning method may not be able to completely remove dust and debris in the gaps and corners of the stairs. In addition, the broom may raise dust during the cleaning process, causing secondary pollution and affecting the cleaning effect.

[0014] Although the cleaning robot disclosed in CN222323484U can simultaneously clean, sanitize, and dry the floor, the modules may not work in unison during actual cleaning, resulting in incomplete cleaning of some areas. Furthermore, the device primarily focuses on cleaning, sanitizing, and drying, and may not adequately clean areas such as stair edges and skirtings. Summary of the Invention

[0015] The purpose of the present invention is to provide an intelligent stair cleaning device. Through the combination of a telescopic swing arm and a negative pressure suction cup, the intelligent stair cleaning device can achieve stable mutual lifting and climbing and efficient cleaning operations in a complex stair environment, which can significantly improve the safety, reliability and cleaning effect of the equipment during the stair movement and cleaning process.

[0016] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent stair cleaning device, comprising two cleaning hosts and a mutual lifting mechanism connected between the two cleaning hosts and assisting the two cleaning hosts in going up and down the stairs, wherein: the cleaning host comprises a body, an environmental sensing module, a negative pressure suction cup, a lateral walking module and a cleaning module, the body being a hollow shell with a dust suction fan and a dust tank arranged inside, an opening being arranged on the bottom side of the body, the lateral walking module being assembled in the opening, the lateral walking module being used to assist the cleaning host in moving laterally along the treads of the stairs, the lateral walking module comprising a lifting frame and a Mecanum wheel distributed in the upper and lower parts; the mutual lifting mechanism comprising a servo arranged on both sides of the cleaning host and a telescopic swing arm connected to the shaft end of the servo, the telescopic swing arm being telescoped and extended with the action of the servo and the mutual lifting adjustment of the cleaning hosts, the swinging and telescopic functions of the telescopic swing arm combined with the stable support of the negative pressure adsorption, the equipment being able to adapt to stairs of different slopes and smoothly complete the action of going up and down the stairs.

[0017] Preferably, the lifting frame is a scissor-type lifting structure, which includes a top frame, a bottom wheel frame, an electric push rod and an X-shaped fork arm. The top frame is fixed to the top side of the opening. There are flat holes on both sides of the top frame. A sliding rod is slidably connected in the flat hole, and the rear end of the sliding rod is driven by the electric push rod.

[0018] Preferably, the lower end of the X-shaped fork arm extends out of the opening and is hinged to the bottom wheel frame, and the upper end of the X-shaped fork arm is connected to the slide rod. The X-shaped fork arm moves with the electric push rod and drives the bottom wheel frame to be extended or folded. When the equipment is cleaning horizontally along the stairs, the scissor-type structure of the lifting frame can quickly lift the equipment. The electric push rod serves as a power source, driving the slide rod to slide in the straight hole. The movement of the slide rod drives the X-shaped fork arm to move, so that the X-shaped fork arm is transformed from a folded state to an extended state, thereby steadily lifting the bottom wheel frame and the entire equipment. This lifting method can accurately control the lifting height, ensuring that the negative pressure suction cup maintains a safe distance from the ground during the horizontal cleaning process of the equipment, avoiding friction between the suction cup and the ground or accidental adsorption, and ensuring the smooth progress of the horizontal cleaning operation. After cleaning the upper and lower steps of the stairs, the lifting frame needs to be quickly retracted so that the negative pressure suction cup contacts the ground. The electric push rod moves in the opposite direction, driving the slide rod to slide in the opposite direction, causing the X-shaped fork arm to change from an extended state to a folded state, causing the equipment to retract; the retraction of the scissor-type lifting structure lowers the center of gravity of the equipment and enhances the stability of the equipment.

[0019] During the mutual lifting process, the adsorption force of the negative pressure suction cup and the supporting force of the lifting frame work together to ensure that the equipment can stably complete the mutual lifting action, avoiding equipment shaking or tipping due to insufficient support, and ensuring the safety of the equipment in complex stair working environments.

[0020] Preferably, Mecanum wheels are mounted at the four corners of the bottom wheel frame, each driven by a wheel axle motor. Since stairways often have uneven terrain and varying slopes, the omnidirectional mobility of the Mecanum wheels allows the device to better adapt to these complex terrains. When climbing stairs, the device can flexibly adjust the speed and direction of the four Mecanum wheels based on the gradient and step height, achieving smooth up and down movement. Even if there are obstacles or bumps on the stairs, the device can quickly bypass them through omnidirectional movement, ensuring continuous cleaning operations.

[0021] Preferably, the suction cups are located on the underside of the machine body and are distributed outside the Mecanum wheels. When the servo of the main cleaning unit drives the telescopic swing arm to swing, the suction cups adhere to the tread and provide mutual support. The suction cups are highly adaptable to stair surfaces of varying materials, achieving stable adhesion on smooth marble, wooden, or rough concrete stairs by adjusting the suction parameters.

[0022] Preferably, a first dust suction port is provided on a side of the machine body close to the step riser, and a second dust suction port is provided on a side of the machine body close to the step tread.

[0023] Preferably, the cleaning module includes a vertical cylindrical roller brush and a flat cylindrical roller brush, wherein the vertical cylindrical roller brush is arranged on the inside of the first suction port, and the flat cylindrical roller brush is arranged on the side of the second suction port, and both the vertical cylindrical roller brush and the flat cylindrical roller brush are driven by a motor. The vertical cylindrical roller brush is arranged on the inside of the first suction port, and its unique vertical structure can fit tightly against the stair riser. Driven by the motor, the roller brush rotates at high speed, and the bristles penetrate deep into the gaps in the riser, effectively sweeping out dust, hair, debris and other debris hidden in the gaps. Since the roller brush acts directly on the riser and cooperates closely with the first suction port, the swept debris can be quickly sucked into the dust tank, avoiding debris residue and achieving deep cleaning of the stair riser. The flat cylindrical roller brush cleans the stair treads, and its flat structure can cover a large area of ​​the treads, quickly scraping off dust, stains, food residues, etc. on the treads and pushing them towards the suction port. When working in conjunction with the vertical cylindrical roller brush, the flat cylindrical roller brush ensures that all areas of the tread are fully cleaned, whether it is the center area of ​​the tread or the edge corners, they can be effectively cleaned, achieving efficient and thorough cleaning of the tread.

[0024] Preferably, the environmental perception module is located on the upper side of the machine and provides path navigation and obstacle avoidance for walking, climbing stairs, and lateral movement between stairs. The environmental perception mechanism includes at least a lidar, a visual camera, and an ultrasonic sensor. Even in dimly lit, dusty, or obstructed environments, the device can still accurately perceive and make corresponding adjustments to ensure safe and stable cleaning tasks. This further expands the device's scope of application, enabling it to function normally in a variety of complex environments.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention realizes the stable mutual lifting climbing and efficient cleaning operation of the intelligent stair cleaning equipment in complex stair environments through the combination of telescopic swing arms and negative pressure suction cups, which can significantly improve the safety, practicality, reliability and cleaning effect of the equipment during stair movement and cleaning. In addition, the mutual lifting crawling structure is small in size and does not take up much space when cleaning. Whether going up or down the stairs, the moving speed is fast, which greatly expands the applicability of the equipment to different stair scenarios and optimizes the operation efficiency.

[0027] 2. The horizontal walking module equipped with the cleaning host of the present invention can assist the equipment to move horizontally along the stair treads. Combined with the vertical cylindrical roller brush and the flat cylindrical roller brush in the cleaning module, the facade and treads of the stairs can be comprehensively cleaned. The two work together to ensure that every corner of the stairs can be thoroughly cleaned; at the same time, the first dust suction port and the second dust suction port correspond to the kick surface and tread respectively, and the cleaned dust and debris are sucked into the dust tank in time to avoid secondary pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a diagram showing the practical application of the present invention;

[0029] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 3 This is a schematic structural diagram of a cleaning host according to an embodiment of the present invention;

[0031] Figure 4 This is a diagram showing the operating principle of the present invention.

[0032] In the figure: 1. Machine body; 2. Environmental sensing module; 3. Negative pressure suction cup; 4. Horizontal walking module; 401. Lifting frame; 402. Mecanum wheel; 5. First suction port; 6. Second suction port; 7. Vertical cylindrical roller brush; 8. Flat cylindrical roller brush; 9. Servo; 10. Telescopic swing arm; 11. Cleaning host A; 12. Cleaning host B. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0035] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0036] See also Figure 1 、 Figure 2 The present invention provides a technical solution: an intelligent stair cleaning device, comprising two cleaning hosts and a mutual lifting mechanism connected between the two cleaning hosts and assisting the two cleaning hosts to go up and down the stairs.

[0037] In this embodiment, the cleaning host includes a body 1, an environment sensing module 2, a negative pressure suction cup 3, a lateral walking module 4 and a cleaning module.

[0038] In this embodiment, the mutual lifting mechanism includes a servo 9 arranged on both sides of the cleaning main unit and a telescopic swing arm 10 connected to the shaft end of the servo 9. The telescopic swing arm 10 is extended and retracted as the servo 9 moves and the mutual lifting of the cleaning main unit is adjusted. Through the swinging and retracting functions of the telescopic swing arm 10 combined with the stable support of negative pressure adsorption, the equipment can adapt to stairs of different slopes and smoothly complete the action of going up and down the stairs.

[0039] See also Figure 2 、 Figure 3 In this embodiment, the body 1 is a hollow shell with a dust suction fan and dust container installed inside. The bottom of the body 1 is provided with an opening, and the transverse walking module 4 is installed in this opening. The transverse walking module 4 is used to assist the cleaning machine in moving horizontally along the stair treads. The transverse walking module 4 includes a lifting frame 401 and Mecanum wheels 402 arranged in an upper and lower position. The lifting frame 401 is a scissor-type lifting structure, comprising a top frame, a bottom wheel frame, an electric push rod, and an X-shaped fork arm. The top frame is fixed to the top side of the opening. Both sides of the top frame have a straight hole. A slide rod is slidably connected to the straight hole. The rear end of the slide rod is driven by the electric push rod. The lower end of the X-shaped fork arm extends from the opening and is hinged to the bottom wheel frame. The upper end of the X-shaped fork arm is connected to the slide rod. The X-shaped fork arm moves with the electric push rod and drives the bottom wheel frame to extend or fold. When the device is cleaning horizontally along the stairs, the scissor-type structure of the lifting frame 401 can quickly lift the device. The electric push rod serves as a power source, driving the slide bar to slide in the straight hole. The movement of the slide bar drives the X-shaped fork arm to move, so that the X-shaped fork arm changes from a folded state to an extended state, thereby steadily lifting the bottom wheel frame and the entire equipment. This lifting method can accurately control the lifting height, ensuring that the negative pressure suction cup 3 maintains a safe distance from the ground during the horizontal cleaning process of the equipment, avoiding friction between the suction cup and the ground or accidental adsorption, and ensuring the smooth progress of the horizontal cleaning operation. After the upper and lower steps of the stairs are cleaned, the lifting frame 401 needs to be quickly retracted so that the negative pressure suction cup 3 contacts the ground. The electric push rod reverses its action, driving the slide bar to slide in the opposite direction, driving the X-shaped fork arm from an extended state to a folded state, causing the equipment to retract; the retraction of the scissor-type lifting structure lowers the center of gravity of the equipment and enhances the stability of the equipment.

[0040] During the mutual lifting process, the adsorption force of the negative pressure suction cup 3 and the supporting force of the lifting frame 401 work together to ensure that the equipment can stably complete the mutual lifting action, avoiding the shaking or tipping of the equipment due to insufficient support, and ensuring the safety of the equipment in complex stair working environments.

[0041] In this embodiment, Mecanum wheels 402 are mounted at the four corners of the bottom wheel frame, each driven by a wheel axle motor. Since stairways often have uneven terrain and varying gradients, the omnidirectional mobility of the Mecanum wheels 402 enables the device to better adapt to these complex terrains. When climbing stairs, the device can flexibly adjust the speed and direction of the four Mecanum wheels 402 based on the gradient and step height, achieving smooth up and down movement. Even if there are obstacles or protrusions on the stairs, the device can quickly circumvent them through omnidirectional movement, ensuring continuous cleaning operations.

[0042] In this embodiment, the suction cups 3 are located on the underside of the machine body 1 and are positioned outside the Mecanum wheels 402. When the servo 9 of the cleaning unit drives the telescopic swing arm 10 to swing, the suction cups 3 adhere to the tread and provide mutual support. The suction cups 3 are highly adaptable to stair surfaces of varying materials, achieving stable adhesion on smooth marble, wooden, or rough concrete stairs by adjusting the suction parameters.

[0043] In this embodiment, a first dust suction port 5 is provided on a side of the machine body 1 close to the step riser, and a second dust suction port 6 is provided on a side of the machine body 1 close to the step tread.

[0044] In this embodiment, the cleaning module includes a vertical cylindrical roller brush 7 and a flat cylindrical roller brush 8. The vertical cylindrical roller brush 7 is positioned inside the first suction port 5, while the flat cylindrical roller brush 8 is positioned to the side of the second suction port 6. Both the vertical cylindrical roller brush 7 and the flat cylindrical roller brush 8 are driven by a motor. The vertical cylindrical roller brush 7 is positioned inside the first suction port 5. Its unique vertical structure allows it to fit snugly against the stair riser. Driven by the motor, the roller brush rotates at high speed, and the bristles penetrate deep into the crevices of the riser, effectively removing hidden dust, hair, debris, and other debris. Because the roller brush directly acts on the riser and closely cooperates with the first suction port 5, removed debris is quickly sucked into the dust container, preventing debris from remaining and achieving a deep clean of the stair riser. The flat cylindrical roller brush 8 cleans the stair treads. Its flat structure covers a large area of ​​the treads, quickly scraping away dust, stains, food residue, and other debris from the treads and pushing them toward the suction port. When working in conjunction with the vertical cylindrical roller brush 7, the flat cylindrical roller brush 8 ensures that all areas of the tread are fully cleaned, whether it is the central area or the edge corners of the tread, they can be effectively cleaned, achieving efficient and thorough cleaning of the tread.

[0045] In this embodiment, in order to further improve the effectiveness of cleaning, the above-mentioned roller brushes (vertical cylindrical roller brush 7, flat cylindrical roller brush 8) are also equipped with an intelligent water spraying device (not shown in the figure). The water spraying device includes a nozzle array, a water tank, a water pump and an intelligent control unit. The nozzle array is distributed in front of or on the side of the roller brush and adopts an angle-adjustable atomizing nozzle to support multi-angle and multi-mode spraying (such as fan-shaped spray and columnar spray). The water tank is built into the body 1 and is equipped with a pressure regulating valve and a flow sensor to monitor the water volume and water pressure in real time. The intelligent control unit is linked with the main control system to dynamically adjust the water spray volume and spraying mode according to the environmental perception data.

[0046] See also Figure 2 In this embodiment, the environmental sensing module 2 is located on the upper side of the machine body 1 and provides path navigation and obstacle avoidance for the machine body 1 during walking, climbing stairs, and lateral movement between stairs. The environmental sensing mechanism includes at least a lidar, a visual camera, and an ultrasonic sensor. Even in dimly lit, dusty, or obstructed environments, the device can still accurately perceive and make corresponding adjustments to ensure safe and stable cleaning tasks. This further expands the device's applicability, enabling it to function properly in a variety of complex environments.

[0047] See also Figure 4 In combination with the above embodiment, the present invention also provides the cleaning steps of the above-mentioned intelligent stair cleaning device, which is described by taking the process of cleaning stairs on the device as an example. At the same time, for the convenience of distinction, the two cleaning hosts are named cleaning host A11 and cleaning host B12 respectively. The specific steps include the following:

[0048] S1: Device initialization and preparation: Turn on the device power and perform a self-test. After the self-test is complete, the environmental perception module 2 begins to work. The lidar, visual camera, and ultrasonic sensor work together to perform a full-scale scan of the stair environment to obtain information such as the size, slope, and obstacle location of the stairs. Based on the acquired environmental information and the preset cleaning algorithm, the device plans the optimal cleaning path, including the order of ascending the stairs and the route for horizontal cleaning.

[0049] S2: Mutual lifting mechanism adjustment and adsorption: After the equipment reaches the staircase, the negative pressure suction cup 3 of the cleaning host B12 adsorbs the tread. At this time, the servo 9 drives the telescopic swing arm 10 to unfold, and the telescopic swing arm 10 drives the cleaning host A11 to a lifting state, and then switches from the lifting state to a suspended state. At this time, the cleaning host A11 is in contact with the tread of the next step;

[0050] S3: Lifting frame 401 lifts: After the mutual lifting is completed, the lifting frames 401 on the cleaning hosts A11 and B12 move. The electric push rod drives the slide bar to slide along the straight hole, driving the X-shaped fork arm to move, so that the lifting frame 401 switches from the folded state to the extended state, lifting the entire device and ensuring that the negative pressure suction cup 3 maintains a certain distance from the ground to avoid friction or accidental adsorption during horizontal cleaning;

[0051] S4: Horizontal Cleaning: The Mecanum wheel 402 adjusts its speed and direction according to the stair slope and step height, driving the device to move horizontally along the stair treads. During the movement, the vertical cylindrical roller brush 7 and the flat cylindrical roller brush 8 deeply clean the stair risers and treads respectively. The cleaned debris is quickly sucked into the dust tank through the first dust suction port 5 and the second dust suction port 6.

[0052] S5: After completing the horizontal cleaning of the first step, the negative pressure suction cup 3 of the cleaning machine A11 sucks the tread. At this time, the servo 9 drives the telescopic swing arm 10 to unfold, and the telescopic swing arm 10 drives the cleaning machine B12 to be lifted and switched from the lifted state to the suspended state. At this time, the cleaning machine B12 contacts the tread of the next step.

[0053] S6: Repeat the above steps S1-S5 until the entire staircase is cleaned.

[0054] It is worth noting that the entire device is controlled by a general control system. Since the equipment matched with the control system is commonly used equipment and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0055] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Changes, modifications, replacements and variations of the above embodiments by ordinary technicians in this field within the scope of the present invention should be included in the scope of protection of the present invention, including but not limited to changes in other climbing methods and cleaning methods.

Claims

1. An intelligent stair cleaning device, comprising two cleaning hosts and a mutual lifting mechanism connected between the two cleaning hosts to assist the two cleaning hosts in ascending and descending stairs, characterized in that: The cleaning host comprises a body (1), an environment sensing module (2), a negative pressure suction cup (3), a transverse walking module (4) and a cleaning module. The body (1) is a hollow shell with a dust suction fan and a dust tank arranged therein. An opening is arranged on the bottom side of the body (1). The transverse walking module (4) is installed in the opening. The transverse walking module (4) is used to assist the cleaning host in transversely moving along the tread of the stairs. The transverse walking module (4) comprises a lifting frame (401) and a Mecanum wheel (402) distributed in an upper and lower manner. The mutual lifting mechanism comprises steering gears (9) arranged on both sides of the cleaning main unit and telescopic swing arms (10) connected to the shaft ends of the steering gears (9). The telescopic swing arms (10) move with the steering gears (9) to perform telescoping and mutual lifting adjustment of the cleaning main unit.

2. The intelligent stair cleaning device according to claim 1, characterized in that: The lifting frame (401) is a scissor-type lifting structure, comprising a top frame, a bottom wheel frame, an electric push rod and an X-shaped fork arm. The top frame is fixed to the top side of the opening, and two sides of the top frame are provided with a straight hole, in which a sliding rod is slidably connected, and the rear end of the sliding rod is driven by the electric push rod.

3. The intelligent stair cleaning device according to claim 2, characterized in that: The lower end of the X-shaped fork arm extends out from the opening and is hinged to the bottom wheel frame, and the upper end of the X-shaped fork arm is connected to the slide rod. The X-shaped fork arm moves with the electric push rod and drives the bottom wheel frame to be extended or folded.

4. The intelligent stair cleaning device according to claim 3, characterized in that: Mecanum wheels (402) are installed at the four corners of the bottom wheel frame, and each Mecanum wheel (402) is driven by a wheel shaft motor.

5. The intelligent stair cleaning device according to claim 1, characterized in that: The negative pressure suction cup (3) is arranged on the bottom side of the machine body (1) and is distributed outside the Mecanum wheel (402). When the steering gear (9) of the cleaning main machine drives the telescopic swing arm (10) to swing, the negative pressure suction cup (3) is adsorbed on the tread and provides mutual lifting support.

6. The intelligent stair cleaning device according to claim 1, characterized in that: A first dust suction port (5) is provided on the side of the machine body (1) close to the step riser, and a second dust suction port (6) is provided on the side of the machine body (1) close to the step tread.

7. The intelligent stair cleaning device according to claim 1, characterized in that: The cleaning module comprises a vertical cylindrical roller brush (7) and a flat cylindrical roller brush (8), wherein the vertical cylindrical roller brush (7) is arranged on the inner side of the first suction port (5), and the flat cylindrical roller brush (8) is arranged on the side of the second suction port (6), and the vertical cylindrical roller brush (7) and the flat cylindrical roller brush (8) are both driven by a motor.

8. The intelligent stair cleaning device according to claim 1, characterized in that: The environment perception module (2) is arranged on the upper side of the body (1) and provides path navigation and obstacle avoidance for the body (1) when walking, climbing steps, and moving horizontally between steps. The environment perception mechanism includes at least a laser radar, a visual camera, and an ultrasonic sensor.

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