Stair climbing robot and control method thereof

Abstract

The invention relates to a stair-climbing robot and a control method thereof.The robot comprises a bearing body and supporting bodies located on the two sides of the bearing body, and at least one first supporting vertical rod and at least one second supporting vertical rod are arranged on the front portion of the bearing body; a power mechanism is arranged at the rear part of the bearing main body, the power mechanism is provided with two output shafts, and the tail end of each output shaft is connected with a driving gear; a circle of annular rail is arranged on the side, close to the bearing body, of the supporting body, a circle of rack is arranged on the side, close to the center of the supporting body, of the annular rail, and the rack is meshed with the driving gear. In the stair climbing process, the gravity center of the robot is transferred to the next step step by step through circulation of supporting of the supporting main body, moving of the bearing main body and resetting of the supporting main body, the overturning risk caused by sudden change of the gravity center can be reduced, and stair climbing stability and safety are improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a stair-climbing robot and a control method thereof. Background Art

[0002] In the field of robotics, the realization of robot stair climbing function has always been an important research direction. Currently, there are three main ways for robots to climb stairs in the existing technology:

[0003] (1) Large tire stair climbing method: This method uses larger tires to directly cross the stair intervals, and transmits power to the wheels through a high-power motor, thereby achieving the purpose of climbing the stairs directly.

[0004] (2) Track climbing method: This method is similar to the large tire climbing method. It also relies on the power output of a high-power motor to enable the wheels to obtain sufficient power to achieve direct climbing.

[0005] (3) Multi-legged bionic gait stair climbing method: Through bionic technology, the method of climbing stairs by simulating the movement of animals such as humans and dogs is used to achieve the goal of climbing stairs.

[0006] However, these stair climbing methods often suffer from significant drawbacks. They have low payload capacity and poor stability, making robots prone to tipping over when climbing stairs and failing to provide a stable platform for operations. This severely limits the practical application of robots in stair environments, such as transporting packaged items like luggage and construction materials, or assisting people with limited mobility up and down stairs.

[0007] In view of these deficiencies in the existing technology, in order to solve the problems of low load-bearing capacity and poor stability when the robot climbs stairs, providing a robot automatic stair climbing method with high stability, safety and practicality has become a technical problem that needs to be solved urgently. Summary of the Invention

[0008] To overcome the above-mentioned deficiencies of the prior art, the present application provides a stair-climbing robot and a control method thereof, which specifically adopts the following technical solutions:

[0009] A stair-climbing robot comprises a load-bearing body and support bodies located on both sides of the load-bearing body.

[0010] A loading cavity is provided in the middle of the load-bearing body, and at least one first supporting rod and at least one second supporting rod are provided at the front of the load-bearing body, wherein the first supporting rod and the second supporting rod both adopt a telescopic structure, and the spacing distance between the first supporting rod and the load-bearing body is smaller than the spacing distance between the second supporting rod and the load-bearing body; a power mechanism is provided at the rear of the load-bearing body, and the power mechanism is connected to two output shafts, and each output shaft is connected to a driving gear at its end;

[0011] A circle of annular track is provided on one side of the support body close to the bearing body, and a circle of rack is provided on one side of the annular track close to the center of the support body, and the rack is meshed with the driving gear.

[0012] Optionally, a circle of baffles is provided on one side of the annular track close to the side edge of the supporting body, and the baffles are used to prevent the driving gear from leaving the annular track.

[0013] Optionally: at least one first ultrasonic sensor and at least one second ultrasonic sensor are configured on the carrying body, wherein the first ultrasonic sensor is located at the front of the carrying body, and the first ultrasonic sensor is used to detect the size of an object located in front of the carrying body; the second ultrasonic sensor is located at the front or rear of the carrying body, and the second ultrasonic sensor is used to measure the lifting height of the carrying body.

[0014] Optionally, the outer surface of the supporting body is provided with a circle of first anti-slip layer, and the first anti-slip layer is used to increase the static friction of the outer surface of the supporting body.

[0015] Optionally, a pressure sensor is provided at the bottom of the loading cavity of the carrying body, and the pressure sensor is used to measure the mass of the object in the loading cavity.

[0016] Optionally: it also includes a control mechanism, which is located at the rear of the carrying body and is communicated with the ultrasonic sensor, pressure sensor, and power mechanism respectively; the control mechanism is used to receive data signals from the sensor and control the power output of the power mechanism.

[0017] Optional: The annular track includes a transverse straight track, a longitudinal straight track and a curved transition track, and the widths of the transverse straight track, the longitudinal straight track and the curved transition track are consistent, wherein two of the transverse straight tracks and two of the longitudinal straight tracks are constructed as a rectangular frame structure, and the curved transition tracks are respectively located at the four corners of the rectangular frame structure.

[0018] Optionally, the width of the annular track is greater than the outer diameter of the driving gear, and the width of the annular track is less than the sum of the outer diameter of the driving gear and the full tooth height of the rack.

[0019] Optionally, movable wheels are provided at the lower ends of the first supporting pole and the second supporting pole.

[0020] In addition, the present application also discloses a control method based on the above-mentioned stair-climbing robot, the control method comprising the following steps:

[0021] The stair-climbing robot is in an initial state, and the supporting body abuts against the front end of a step of the stairs;

[0022] The sensor collects the size data of the next step and makes a judgment: if the height of the next step is adapted to the height of the support body, the next step is carried out; if the height of the next step is not adapted to the height of the support body, an alarm message is sent to remind;

[0023] The sensor is used to collect the mass of the transported object in the carrier and make a judgment: when the mass of the transported object does not exceed the maximum transport mass of the carrier, the next step is carried out; when the mass of the transported object exceeds the maximum transport mass of the carrier, an alarm message is sent.

[0024] With the supporting body as support, the power mechanism drives the driving gear to move upward along the circular track, while the first supporting rod continues to extend, and the carrying body rises upward;

[0025] When the carrying body is raised to the highest position, the power mechanism drives the driving gear to move forward along the circular track, and the carrying body moves forward at the current height;

[0026] When the second support rod is located above the next step, the second support rod continues to extend until it contacts the upper surface of the next step, and the first support rod retracts;

[0027] The power mechanism drives the driving gear to continue to move forward along the circular track, and the carrying body continues to move forward at the current height until the carrying body is above the next step;

[0028] The power mechanism drives the driving gear to move downward along the annular track, and at the same time, the second supporting rod begins to retract synchronously, and the carrying body moves downward until the bottom of the carrying body contacts the next step;

[0029] The power mechanism drives the driving gear to continue moving downward along the annular track to the lowest position, and the support body is lifted up on the side close to the step;

[0030] The power mechanism drives the driving gear to move backward along the annular track, and at this time the carrying body will drag the supporting body to move to the next step;

[0031] The power mechanism drives the driving gear to continue to move backward along the annular track until the supporting body is completely moved to the next step.

[0032] Beneficial effects

[0033] The technical solution of this application has the following beneficial effects:

[0034] The stair-climbing robot of this application achieves relative motion between the robot's load-bearing body and its supporting body through the meshing motion of a gear and a rack. This transmission method is characterized by smooth transmission and high precision. The rack can also maintain the continuity of the gear meshing during turns, ensuring smooth gear movement and avoiding jamming. Furthermore, during the stair-climbing process, the robot's center of gravity is transferred step by step to the next step through a cycle of "supporting body support → load-bearing body movement → supporting body reset." This method can reduce the risk of overturning caused by sudden changes in the center of gravity and improve the stability and safety of stair climbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the overall structure of the stair-climbing robot in an embodiment of the present application.

[0036] Figure 2 This is a schematic diagram of the top-down structure of the stair-climbing robot in an embodiment of the present application.

[0037] Figure 3 This is a schematic diagram of the back-facing structure of the stair-climbing robot in an embodiment of the present application.

[0038] Figure 4 for Figure 3 Schematic diagram of the coordination structure between the driving gear and the annular track at position A in the middle.

[0039] Figure 5 This is a schematic diagram of the movement process of the stair-climbing robot in an embodiment of the present application.

[0040] The specific meanings of the reference numerals in the accompanying drawings are:

[0041] 1-carrying body; 2-supporting body; 201-annular track; 202-rack; 203-baffle; 3-power mechanism; 4-control mechanism; 5-pressure sensor; 6-first ultrasonic sensor; 7-second ultrasonic sensor; 8-coupling; 9-output shaft; 10-driving gear; 11-first supporting pole; 12-second supporting pole; 13-moving wheel. DETAILED DESCRIPTION

[0042] The present application will be further described below in conjunction with the accompanying drawings. The following examples are only used to more clearly illustrate the technical solutions of the present application and are not intended to limit the scope of protection of the present application. It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application.

[0043] like Figure 1-3As shown, this embodiment specifically discloses a stair-climbing robot, which includes a carrying body 1 and a supporting body 2 located on both sides of the carrying body 1, wherein the carrying body 1 mainly serves as a carrying structure and undertakes the object transportation function; and the supporting body 2 is relatively arranged on both sides of the carrying body 1, which mainly serves as the movement structure of the stair-climbing robot and implements the stair-climbing function.

[0044] Specific, combined Figure 2 As shown, a loading cavity is provided in the middle of the carrying body 1 of this embodiment. The loading cavity can adopt a semi-closed cavity structure with an open upper end to provide a regular cargo storage space and adapt to the transportation of items of different shapes. In addition, a buffer layer can be set on the inner wall of the loading cavity to reduce the shaking and collision of items during transportation.

[0045] More specifically, combined Figure 3 As shown, this embodiment is provided with a power mechanism 3 at the rear of the carrying body 1. The power mechanism 3 of this embodiment adopts a double-axis extension motor. The power mechanism 3 is provided with two power output ends, and each power output end is connected to an output shaft 9 through a coupling 8. The end of each output shaft 9 is connected to a driving gear 10; this structure can provide symmetrical driving force to ensure that the supporting bodies 2 on both sides move synchronously, avoid climbing deviation caused by insufficient power on one side, and maintain the balance of the robot especially under heavy load conditions.

[0046] Correspondingly, such as Figure 4 As shown, a circle of annular tracks 201 is provided on the side of the support body 2 close to the bearing body 1, and the drive gear 10 is located in the annular track 201. Furthermore, in this embodiment, the annular track 201 adopts a rectangular frame structure composed of a transverse linear track and a longitudinal linear track, and a curved transition track is adopted at the four corners. A circle of racks 202 is provided on the side of the annular track 201 close to the center of the support body 2, and the racks 202 are engaged with the drive gear 10. The transverse linear track and the longitudinal linear track can construct a stable motion path, and the curved transition track ensures that the drive gear 10 transitions smoothly when turning, reduces impact vibration, makes the climbing process smoother, and reduces the risk of cargo falling.

[0047] Furthermore, combining 1 and Figure 4 As shown, in this embodiment, a circle of baffles 203 is provided on the side of the annular track 201 near the supporting body 2. The baffles 203 can limit the axial movement of the driving gear 10 to prevent the driving gear 10 from leaving the annular track 201. Therefore, in the case of bumpy stairs or large movements, the gear can be prevented from leaving the track, preventing the robot from stagnating or losing control due to transmission failure, thereby improving system safety.

[0048] In addition, if Figure 1As shown, in this embodiment, at least one first support rod 11 and at least one second support rod 12 are provided at the front of the carrier body 1, wherein the first support rod 11 and the second support rod 12 are both retractable structures, such as electric push rods, and the distance between the first support rod 11 and the carrier body 1 is smaller than the distance between the second support rod 12 and the carrier body 1. It should be noted that the purpose of providing the support rods in this embodiment is to keep the carrier body 1 always horizontal during the robot climbing process, and to prevent the transported object from falling due to the overturning of the carrier body 1. When the power mechanism 3 at the rear of the carrier body 1 drives the drive gear 10 to rotate, due to the meshing action of the drive gear 10 and the rack 202, the drive gear 10 will move along the circular track 201, and then the carrier body 1 can achieve the movement of rising, translating and descending. In order to ensure that the carrier body 1 is always horizontal during the movement, the support rod located at its front can be extended or retracted synchronously with the rise or fall of the carrier body 1, thereby forming two-end support for the carrier body 1 and improving the stability of the movement. Furthermore, movable wheels 13 are provided at the lower ends of the first supporting rod 11 and the second supporting rod 12. When the supporting body 1 is translated, the movable wheels 13 can reduce the difficulty of translation.

[0049] It should be noted that in this embodiment, a support mechanism with an interval layout is formed in the front part of the load-bearing body 1. When the robot climbs, the first support upright 11 can first abut against the surface of the current step. As the load-bearing body 1 rises and moves forward, the second support upright 12 can abut against the surface of the next step to ensure that the front and rear positions of the load-bearing body 1 are always lifted and stressed during the climbing process, thereby ensuring the stability of the load-bearing body 1.

[0050] Furthermore, in this embodiment, the support body 1 is equipped with at least one first ultrasonic sensor 6 and at least one second ultrasonic sensor 7. The first ultrasonic sensor 6 is located at the front of the support body 1 and is used to detect the size of objects in front of the support body 1. In this embodiment, the first ultrasonic sensor 6 primarily detects the height of the step in front, thereby determining whether the robot's maximum climbing height meets the current step height. The first ultrasonic sensor 6 can automatically screen climbable steps, preventing the robot from being unable to climb or damaging the equipment due to excessively high steps, thereby improving task safety. For example, the maximum climbing height of the stair-climbing robot in this embodiment is 30 cm. If the detected step height is 25 cm, the robot can climb normally; if the height is 35 cm, an alarm will be issued to alert the user to intervene. The second ultrasonic sensor 7 is located at the front or rear of the support body 1 and is used to measure the lifting height of the support body 1. In this embodiment, the second ultrasonic sensor 7 primarily detects the actual lifting height of the robot and transmits this height data to the control mechanism 4 to assist the robot in climbing. This embodiment can determine whether the robot can climb the current stair height through the data collected by the ultrasonic sensor, thereby avoiding damage and injury caused by the robot and the transported items colliding with the stairs due to the inability to climb the stairs.

[0051] In addition, in this embodiment, a pressure sensor 5 is further provided at the bottom of the loading cavity of the loading body 1. Figure 2 As shown, the pressure sensor 5 is used to measure the mass of the object within the cargo cavity. For example, an array of pressure sensors 5 can be embedded in the bottom of the cargo cavity, covering the entire cavity bottom surface. The pressure sensors 5 monitor the cargo weight in real time. When the load exceeds the robot's maximum transport weight, the control mechanism 4 immediately issues an audible and visual alarm, and the power mechanism 3 is locked to prevent overload, motor burnout, or imbalance during stair climbing. For example, if the cargo weight reaches 55 kg, the robot will immediately sound an alarm and stop, preventing it from tipping over due to imbalance during stair climbing.

[0052] It should be noted that if Figure 3As shown in the figure, the control mechanism 4 of this embodiment is located at the rear of the carrying body 1. It integrates a microprocessor and a communication module, and the control mechanism 4 is respectively communicatively connected to the ultrasonic sensor, the pressure sensor 5, and the power mechanism 3. The control mechanism 4 is used to receive the data signals of the sensors and control the power output of the power mechanism 3. For example, the control mechanism 4 of this embodiment synchronously receives the data of the ultrasonic sensor and the pressure sensor 5, analyzes through algorithms (such as the matching degree of the step height and the load), and dynamically adjusts the power output parameters (such as the motor speed, the telescopic speed of the vertical rod) to achieve intelligent climbing control. In addition, the control mechanism 4 can also monitor the operating status of each component in real time. When detecting faults such as abnormal wear of gears and overheating of the motor, it automatically activates the protection mechanism (such as power-off and shutdown), and sends a fault code to the terminal to facilitate maintenance personnel to quickly locate the problem.

[0053] Furthermore, a first anti-slip layer is provided on the outer surface of the support body 2. The first anti-slip layer is used to increase the static friction on the outer surface of the support body 2. For example, the first anti-slip layer can adopt a serrated pattern. The first anti-slip layer can increase the static friction between the support body 2 and the step surface, and can prevent the robot from slipping when climbing even on wet and smooth steps (such as ceramic tile stairs), improving the climbing reliability.

[0054] It should be noted that in combination with Figure 4 As shown in the figure, in this embodiment, it is required that the width P of the annular track 201 is greater than the outer diameter L of the driving gear 10, and the width P of the annular track 201 is less than the sum of the outer diameter L of the driving gear 10 and the full tooth height H of the rack 202, that is, L < P < L + H. Using this structure can ensure that during the movement of the driving gear 10 along the annular track 201, the driving gear 10 and the rack 202 always remain in a meshing state, thereby ensuring stable power transmission and ensuring climbing stability.

[0055] Furthermore, in addition, this application also discloses a control method based on the above-mentioned climbing robot. As Figure 5 shown, the control method includes the following steps:

[0056] First, data collection before climbing:

[0057] The climbing robot is in an initial state (in this state, the centers of the carrying body and the support body 2 are basically in the same position), and the support body 2 abuts against the front end of a certain step of the stairs;

[0058] Use the sensor to collect the size data of the next step and make a judgment: when the height of the next step is suitable for the height of the support body 2, proceed to the next step; when the height of the next step is not suitable for the height of the support body 2, send an alarm message for reminder;

[0059] The sensor is used to collect the mass of the transported object in the carrier body 1 and make a judgment: when the mass of the transported object does not exceed the maximum transport mass of the carrier body 1, the next step is carried out; when the mass of the transported object exceeds the maximum transport mass of the carrier body 1, an alarm message is sent.

[0060] Support and lifting phase:

[0061] With the support body 2 as the support, the power mechanism 3 drives the driving gear 10 to move upward along the circular track 201. At the same time, the first supporting pole 11 continues to extend, and the carrying body 1 rises upward. In this process, the high torque characteristics of the gear-rack 202 transmission provide stable upward power for one end of the carrying body 1, while the other end provides support through the extension of the supporting pole. At this stage, the carrying body 1 realizes the lifting action.

[0062] Horizontal movement phase:

[0063] When the carrying body 1 rises to the highest position of the supporting body 2, that is, Figure 5 In the middle position a, the power mechanism 3 will drive the driving gear 10 to move forward along the circular track 201, and the supporting body 1 will maintain the current height and move forward; at this time, the length of the first supporting upright 11 is maintained, and it moves together with the supporting body 1 through the moving wheel 13 at the lower end; while the supporting body 2 remains stationary due to the friction generated by the contact between the bottom surface and the ground.

[0064] Alternating support phase:

[0065] When the second support pole 12 is located above the next step, the second support pole 12 continues to extend until it contacts the upper surface of the next step. At this time, the first support pole 11 retracts. By alternating the support poles, the robot always maintains at least two points of support during the climbing process, forming a stable support structure, enhancing the anti-overturning ability of the load-bearing body 1, and at the same time, the support poles move to the next step.

[0066] The power mechanism 3 drives the driving gear 10 to continue to move forward along the annular track 201, and the carrying body 1 continues to move forward at the current height until the carrying body 1 is above the next step, that is, Figure 5 At position b, most of the robot's center of gravity has been transferred to the next step.

[0067] Falling and reset phase:

[0068] The power mechanism 3 drives the driving gear 10 to move downward along the annular track 201 , and at the same time, the second supporting rod 12 begins to retract synchronously, and the carrying body 1 moves downward until the bottom of the carrying body 1 contacts the next step;

[0069] The power mechanism 3 drives the driving gear 10 to continue moving downward along the annular track 201 to the lowest position of the supporting body 2, that is, Figure 5 In the middle position c, the support body 2 is lifted up on one side close to the step. It should be noted that by lifting one side of the support body 2, the friction between the support body 2 and the step surface can be reduced, making the support body 2 easier to move.

[0070] The power mechanism 3 drives the driving gear 10 to move backward along the circular track 201. At this time, the carrying body 1 will drag the supporting body 2 to move to the next step; the supporting body 2 located on the previous step will gradually be dragged to the surface of the next step, realizing the climbing of the supporting body 2.

[0071] Finally, the power mechanism 3 drives the driving gear 10 to continue to move backward along the circular track 201 until the supporting body 2 is completely moved to the next step. At this time, the stair climbing robot is in the initial state again, that is, Figure 5 Middle position d.

[0072] By repeating the above process, the robot can climb stairs.

[0073] It should be noted that, in this embodiment, the bottom surfaces of the supporting body 2 and the carrying body 1 are preferably provided with an anti-slip layer. However, in order to ensure that the carrying body 1 does not slide when the carrying body 1 drags the supporting body 2 to the next step, the friction force of the anti-slip layer on the bottom surface of the carrying body 1 generally needs to be greater than the friction force of the anti-slip layer on the bottom surface of the supporting body 2 to ensure that the supporting body 2 is stably dragged to the next step.

[0074] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0075] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another device, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0077] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0078] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0079] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0080] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a device (which can be a terminal or platform, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0081] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A stair-climbing robot, characterized in that: It includes a bearing body and supporting bodies located on both sides of the bearing body. A loading cavity is provided in the middle of the load-bearing body, and at least one first supporting rod and at least one second supporting rod are provided at the front of the load-bearing body, wherein the first supporting rod and the second supporting rod both adopt a telescopic structure, and the spacing distance between the first supporting rod and the load-bearing body is smaller than the spacing distance between the second supporting rod and the load-bearing body; a power mechanism is provided at the rear of the load-bearing body, and the power mechanism is connected to two output shafts, and each output shaft is connected to a driving gear at its end; A circle of annular track is provided on one side of the support body close to the bearing body, and a circle of rack is provided on one side of the annular track close to the center of the support body, and the rack is meshed with the driving gear.

2. The stair-climbing robot according to claim 1, characterized in that: A circle of baffles is provided on one side of the annular track close to the side edge of the supporting body, and the baffles are used to prevent the driving gear from leaving the annular track.

3. The stair-climbing robot according to claim 1, characterized in that: At least one first ultrasonic sensor and at least one second ultrasonic sensor are configured on the carrying body, wherein the first ultrasonic sensor is located at the front of the carrying body, and is used to detect the size of an object located in front of the carrying body; the second ultrasonic sensor is located at the front or rear of the carrying body, and is used to measure the lifting height of the carrying body.

4. The stair-climbing robot according to claim 1, characterized in that: The outer surface of the support body is provided with a circle of first anti-slip layer, and the first anti-slip layer is used to increase the static friction force of the outer surface of the support body.

5. The stair-climbing robot according to claim 3, characterized in that: A pressure sensor is provided at the bottom of the loading cavity of the load-bearing body, and the pressure sensor is used to measure the mass of the object in the loading cavity.

6. The stair-climbing robot according to claim 5, characterized in that: It also includes a control mechanism, which is located at the rear of the carrying body and is communicated with the ultrasonic sensor, pressure sensor, and power mechanism respectively; the control mechanism is used to receive data signals from the corresponding sensors and control the power output of the power mechanism.

7. The stair-climbing robot according to claim 1, characterized in that: The annular track includes a transverse straight track, a longitudinal straight track and a curved transition track. The widths of the transverse straight track, the longitudinal straight track and the curved transition track are consistent. Two of the transverse straight tracks and two of the longitudinal straight tracks are constructed into a rectangular frame structure, and the curved transition tracks are respectively located at the four corners of the rectangular frame structure.

8. The stair-climbing robot according to claim 7, characterized in that: The width of the annular track is greater than the outer diameter of the driving gear, and the width of the annular track is less than the sum of the outer diameter of the driving gear and the full tooth height of the rack.

9. The stair-climbing robot according to claim 1, characterized in that: The lower ends of the first supporting pole and the second supporting pole are both provided with moving wheels.

10. A control method for a stair-climbing robot according to any one of claims 1 to 9, characterized in that: The control method comprises the following steps: The stair-climbing robot is in an initial state, and the supporting body abuts against the front end of a step of the stairs; The sensor collects the size data of the next step and makes a judgment: if the height of the next step is adapted to the height of the support body, the next step is carried out; if the height of the next step is not adapted to the height of the support body, an alarm message is sent to remind; The mass of the object being transported in the carrier is collected by a sensor and judged: if the mass of the transported object does not exceed the maximum transport mass of the carrier, the next step is carried out; When the mass of the transported object exceeds the maximum transport mass of the carrying body, an alarm message is sent to remind. With the supporting body as support, the power mechanism drives the driving gear to move upward along the circular track, while the first supporting rod continues to extend, and the carrying body rises upward; When the carrying body is raised to the highest position, the power mechanism drives the driving gear to move forward along the circular track, and the carrying body moves forward at the current height; When the second support rod is located above the next step, the second support rod continues to extend until it contacts the upper surface of the next step, and the first support rod retracts; The power mechanism drives the driving gear to continue to move forward along the circular track, and the carrying body continues to move forward at the current height until the carrying body is above the next step; The power mechanism drives the driving gear to move downward along the annular track, and at the same time, the second supporting rod begins to retract synchronously, and the carrying body moves downward until the bottom of the carrying body contacts the next step; The power mechanism drives the driving gear to continue moving downward along the annular track to the lowest position, and the support body is lifted up on the side close to the step; The power mechanism drives the driving gear to move backward along the annular track, and at this time the carrying body will drag the supporting body to move to the next step; The power mechanism drives the driving gear to continue to move backward along the annular track until the supporting body is completely moved to the next step.

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