Cross-floor cleaning robot

Abstract

The application provides a cross-floor cleaning robot, comprising: a machine body; a walking mechanism arranged at the bottom of the machine body; a cross-floor moving mechanism arranged at both sides of the machine body, the cross-floor moving mechanism comprising driving members arranged at both sides of the machine body, movable supports and walking members connected with the movable supports, the driving members driving the walking members to move relative to the machine body through the movable supports, and the machine body climbing or crossing obstacles through posture adjustment; a cleaning system comprising a cleaning module arranged at the bottom of the machine body and a multi-mode cleaning assembly movably arranged at the front end of the machine body; a navigation system arranged on the machine body; and a control system in signal connection with the walking mechanism, the cross-floor moving mechanism, the cleaning system and the navigation system respectively, and controlling the walking mechanism, the cross-floor moving mechanism and the cleaning system to act according to the information of the navigation system.

Description

Technical Field

[0001] This invention relates to the field of intelligent cleaning equipment technology, and in particular to a multi-floor cleaning robot. Background Technology

[0002] With the increasing popularity of intelligent cleaning robots, their application scenarios have expanded from single-story residences to duplexes, villas, and multi-story public buildings. However, most cleaning robots on the market are wheeled and designed to operate only on a single horizontal plane, unable to autonomously traverse areas with height differences such as stairs and thresholds.

[0003] Existing cleaning robots have relatively fixed body structures and cleaning component layouts. Their cleaning components (such as side brushes, roller brushes, and mops) can typically only operate on the ground area directly beneath the robot. Limited by the body structure and fixed ground clearance, the cleaning components cannot actively lift or extend into low-lying spaces such as under sofas and beds, nor can they effectively reach cleaning dead spots such as wall corners and furniture crevices. This results in dust and dirt remaining unresolved in these areas for extended periods, leading to unsatisfactory cleaning coverage. Therefore, enabling cleaning robots to overcome height differences and actively and thoroughly clean low-lying, hard-to-reach areas is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a cross-floor cleaning robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A multi-floor cleaning robot includes: a body; a walking mechanism disposed at the bottom of the body; a multi-floor moving mechanism disposed on both sides of the body, the multi-floor moving mechanism including a drive component disposed on both sides of the body, a movable support, and a walking component connected to the movable support, the drive component driving the walking component to move relative to the body through the movable support, and the body climbing or crossing obstacles by adjusting its posture; a cleaning system including a cleaning module disposed at the bottom of the body and a multi-mode cleaning component movably disposed at the front end of the body; a navigation system disposed on the body; and a control system connected to the walking mechanism, the multi-floor moving mechanism, the cleaning system, and the navigation system respectively, and controlling the actions of the walking mechanism, the multi-floor moving mechanism, and the cleaning system according to the information of the navigation system.

[0006] Optionally, the system may also include an attitude detection unit connected to the control system. The attitude detection unit is mounted on the body of the device, and the control system adjusts the output of the drive unit according to the detection signal from the attitude detection unit.

[0007] Optionally, the multi-mode cleaning component includes a movable connector, a connection interface, and a cleaning module. One end of the movable connector is connected to the body, and the other end is provided with the connection interface. The cleaning module is detachably connected to the movable connector through the connection interface.

[0008] Optionally, the movable connector includes a first connecting arm, a second connecting arm, a lifting motor, and a servo motor. The lifting motor is mounted on the body and is connected to the first connecting arm in a transmission manner. The servo motor is connected between the first connecting arm and the second connecting arm and is used to drive the second connecting arm to rotate relative to the first connecting arm. The connection interface is located at the end of the second connecting arm away from the servo motor.

[0009] Optionally, the cleaning module includes a gathering component, a sweeping component, and a negative pressure generating component. The gathering component and the sweeping component are disposed at the bottom of the machine body, the negative pressure generating component is disposed inside the machine body, the air intake of the negative pressure generating component is connected to the area where the sweeping component is located, and the negative pressure generating component is connected to the dust collection container.

[0010] Optionally, the navigation system includes a laser detection module and an auxiliary sensing module, which are respectively connected to the control system.

[0011] Optionally, it also includes an energy management module, a liquid supply management module, and a drying module, which are respectively connected to the control system. The energy management module is used to trigger the fuselage to return to the charging station, the liquid supply management module is used to trigger the fuselage to return to the replenishment station, and the drying module is used to dry the multi-mode cleaning components.

[0012] Optionally, the control method includes: acquiring modeling data of the environment modeled by the navigation system; determining the reachable range of the multi-mode cleaning component based on the current attitude information of the multi-mode cleaning component, and determining whether the reachable range covers the target area based on the modeling data; if yes, controlling the multi-mode cleaning component to change its attitude, and controlling the fuselage to move towards the target area for cleaning; if no, determining the floor area where the fuselage is located based on the modeling data; if on the same floor, controlling the fuselage to move to change the relative position of the fuselage and the target area, and repeating the determination step until the reachable range covers the target area, and then controlling the fuselage to clean; if a floor transition area is identified, controlling the cross-floor moving mechanism to move, so that the walking component moves relative to the fuselage to cross to the adjacent floor, and adjusting the driving force of the cross-floor moving mechanism according to the attitude information of the fuselage during the crossing process.

[0013] Optionally, the control method further includes: when the target area is a corner, controlling the multi-mode cleaning component to switch to the scraping module; when the target area is the ground, controlling the multi-mode cleaning component to switch to the mopping module; and when the ground cleaning is completed, controlling the multi-mode cleaning component to lift up and wet mop the wall.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This application provides a cross-floor cleaning robot. Through a cross-floor movement mechanism, the robot can autonomously traverse areas with height differences, such as stairs and thresholds, overcoming the limitation of traditional cleaning robots that can only operate on a single floor and enabling continuous cross-floor cleaning operations. Simultaneously, through a multi-mode cleaning component movable at the front of the robot, the cleaning component can actively change its posture to reach deep into low spaces such as under sofas and beds, as well as cleaning hard-to-reach areas such as wall corners and furniture crevices, improving cleaning coverage. This application features a compact structure and high functional integration, achieving fully automated cross-floor cleaning operations. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Legend: Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a schematic diagram of the rear structure of the present invention; Figure 3 This is a schematic diagram of the structure of the multi-mode cleaning component; In the diagram: 1. Body; 2. Walking mechanism; 3. Cross-layer moving mechanism; 31. Drive component; 32. Movable support; 33. Walking component; 4. Cleaning system; 41. Sweeping module; 411. Gathering component; 412. Rolling sweeper; 42. Multi-mode cleaning component; 421. Movable connector; 4211. First connecting arm; 4212. Second connecting arm; 4213. Lifting motor; 4214. Servo motor; 422. Connection interface; 423. Cleaning module; 5. Water tank. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] It will be understood that although the terms “first,” “second,” “third,” “fourth,” etc., may be used here to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0019] Combination Figure 1-3 As shown, an embodiment of the present invention provides a cross-floor cleaning robot, comprising: a body 1; a walking mechanism 2 disposed at the bottom of the body 1; a cross-floor moving mechanism 3 disposed on both sides of the body 1, the cross-floor moving mechanism 3 comprising a drive component 31 disposed on both sides of the body 1, a movable support 32, and a walking component 33 connected to the movable support 32, the drive component 31 driving the walking component 33 to move relative to the body 1 through the movable support 32, and the body 1 climbing or crossing obstacles by adjusting its posture; a cleaning system 4 comprising a cleaning module 41 disposed at the bottom of the body 1 and a multi-mode cleaning component 42 movably disposed at the front end of the body 1; a navigation system disposed on the body 1; and a control system connected to the walking mechanism 2, the cross-floor moving mechanism 3, the cleaning system 4, and the navigation system respectively, and controlling the actions of the walking mechanism 2, the cross-floor moving mechanism 3, and the cleaning system 4 according to the information from the navigation system.

[0020] The overall outline of the body 1 can adopt a rectangular structure to facilitate edge cleaning in areas such as corners.

[0021] The traveling mechanism 2 is located at the bottom of the fuselage 1 and is used to move the fuselage 1 on the ground. The traveling mechanism 2 consists of three rollers located at the bottom of the fuselage 1, arranged along the front-rear direction of the fuselage 1, and each roller is rotatably connected to the fuselage 1. The traveling mechanism 2 moves the fuselage 1 on the ground by the contact and rolling of the three rollers. When turning is required, differential steering is achieved by controlling the speed difference between the two rollers.

[0022] The cross-level movement mechanism 3 is located on both sides of the machine body 1 and consists of long, strip-shaped tracked wheels. It is used to adjust the machine body 1's posture to climb or traverse obstacles. The cross-level movement mechanism 3 includes two drive units 31 located on either side of the machine body 1, a movable support 32, and a traveling component 33 connected to the movable support 32. Two drive units 31 are located on each side of the machine body 1. One end of the movable support 32 is hinged to the machine body 1, and the other end is connected to the traveling component 33. The drive unit 31 is fixedly mounted on the machine body 1, and its output end is connected to the movable support 32 for transmission. The drive unit 31 drives the movable support 32 to swing around the hinge point, causing the traveling component 33 to deflect relative to the machine body 1 at an angle. This changes the angle between the traveling component 33 and the bottom plane of the machine body 1, thus enabling climbing or traversing. The traveling component 33 is a track used to contact stair steps or obstacle surfaces when climbing or traversing obstacles. The cross-level movement mechanism 3 is independent of the traveling mechanism 2, and there is no direct connection between the two. The drive component 31 can be any one of a servo motor, an electric actuator, or a hydraulic cylinder.

[0023] The cleaning system 4 includes a cleaning module 41 located at the bottom of the body 1 and a multi-mode cleaning component 42 movably located at the front of the body 1. The cleaning module 41, located at the bottom of the body 1, is used to perform cleaning and vacuuming operations. The cleaning module 41 includes a gathering component 411, a sweeping component 412, and a negative pressure generating component. The gathering component 411 is located on both sides of the bottom of the body 1 and can be a rotating side brush.

[0024] Specifically, the rotating side brush includes a bristle bundle and a side brush motor that drives the bristle bundle to rotate. The side brush motor is fixed to the bottom of the machine body 1, and its output shaft extends downward in a vertical direction. The bristle bundle is fixed to the end of the output shaft, and the free end of the bristle bundle is in contact with the ground. The side brush motor drives the bristle bundle to rotate around the vertical axis, gathering the garbage on both sides of the machine body 1 towards the middle of the machine body 1.

[0025] The sweeping component 412 is located at the center of the bottom of the machine body 1. It can be a V-shaped roller brush. Specifically, the V-shaped roller brush includes a roller and bristles disposed around the outer periphery of the roller. The axis of the roller is horizontal and perpendicular to the travel direction of the machine body 1. The roller is driven by a roller brush motor to rotate around its own axis. As the roller rotates, the bristles pick up the passing debris and throw it backward. The negative pressure generating component is located inside the machine body 1 and can be a vacuum pump. Its air intake is connected to the area where the sweeping component 412 is located, and the negative pressure generating component is connected to the dust collection container. When the negative pressure generating component is working, it generates a negative pressure airflow, forming a suction force near the sweeping component 412, which sucks the picked-up debris into the dust collection container. The dust collection container is a dust box that is detachably installed inside the machine body 1. The air inlet of the dust box is connected to the area where the sweeping component 412 is located, and the air outlet is connected to the negative pressure generating component. The air outlet of the negative pressure generating component is connected to the outside atmosphere.

[0026] The multi-mode cleaning component 42 includes a movable connector 421, a connection interface 422, and a cleaning module 423. One end of the movable connector 421 is connected to the body 1, and the other end is provided with the connection interface 422. The cleaning module 423 is detachably connected to the movable connector 421 through the connection interface 422. The movable connector 421 includes a first connecting arm 4211, a second connecting arm 4212, a lifting motor 4213, and a servo motor 4214. The lifting motor 4213 is mounted on the body 1 and is drivenly connected to the first connecting arm 4211. The lifting motor 4213 is fixed inside the front end of the body 1, and its output end is drivenly connected to the first connecting arm 4211. The lifting motor 4213 drives the first connecting arm 4211 to swing in a vertical plane, thereby causing the entire multi-mode cleaning component 42 to be lifted or lowered relative to the body 1. A servo motor 4214 is connected between the first connecting arm 4211 and the second connecting arm 4212, and is used to drive the second connecting arm 4212 to rotate relative to the first connecting arm 4211. Specifically, the stator end of the servo motor 4214 is connected to the first connecting arm 4211, and the rotor end is connected to the second connecting arm 4212. The rotation of the servo motor 4214 drives the second connecting arm 4212 to rotate around the axis of the servo motor 4214 relative to the first connecting arm 4211, thereby allowing for more flexible positional adjustment of the connection interface 422 and the cleaning module 423 at the end of the second connecting arm 4212, facilitating entry into low-ceilinged spaces or adjustment of the cleaning angle. The connection interface 422 is located at the end of the second connecting arm 4212 furthest from the servo motor 4214. The cleaning module 423 includes a mopping module and a scraping module. The mopping module is used for wet mopping the floor and includes a mop cloth and a mop cloth mounting plate. The mop cloth is detachably attached to the lower surface of the mop cloth mounting plate, and the mop cloth mounting plate is detachably fixed to the connection interface 422. The removal module includes a scraper or scraper plate with a wedge-shaped or thin-bladed front end for removing stubborn stains attached to the ground.

[0027] In addition, as an alternative implementation, a scraper can also be provided at the front end of the body 1. The scraper can be directly fixed to the bottom of the front end of the body 1 or movably disposed at the front end of the body 1, and is used to initially remove stubborn stains in the wall base area during the movement of the body 1. Thus, basic cleaning functions can be achieved without assembling a scraping module, further improving the operational flexibility and scene adaptability of the cleaning robot.

[0028] Furthermore, the mopping module is also equipped with a water tank 5 connected thereto. The water tank 5 is located inside the body 1 or above the mopping module and is used to store cleaning fluid. The water tank 5 is connected to the fluid dispensing port on the mop mounting plate via a pipe, and is used to supply cleaning fluid to the mop during mopping to achieve constant-humidity mopping and improve the cleaning effect on floor stains. The water tank 5 is detachably mounted on the body 1 for easy refilling by the user.

[0029] The navigation system is mounted on fuselage 1 and is used to collect environmental information. The navigation system includes a laser detection module and an auxiliary sensing module. The laser detection module is located on the top of fuselage 1 and can employ a lidar system, specifically a single-line or multi-line lidar system. It measures the distance between fuselage 1 and surrounding objects by emitting laser beams and receiving reflected signals, thus achieving environmental mapping and positioning. The laser detection module continuously scans and models the surrounding environment, constructing a 3D spatial map to achieve real-time mapping, positioning, and autonomous path planning. The auxiliary sensing module is located on the bottom and / or sides of fuselage 1 and may include one or more of photoelectric sensors, limit switches, and inertial measurement units (IMUs). It is used to detect the distance and spatial pose of fuselage 1 to obstacles. The photoelectric sensors are located on the bottom of fuselage 1 to detect ground conditions and the distance between fuselage 1 and the ground, preventing fuselage 1 from falling down stairs or becoming suspended in mid-air. The limit switches are located on the sides of fuselage 1 to generate trigger signals when fuselage 1 touches an obstacle. The IMU is located inside fuselage 1 to detect attitude information such as tilt angle and angular velocity. The laser detection module and the auxiliary sensing module are respectively connected to the control system signal to transmit the collected data to the control system.

[0030] In terms of distance judgment, the laser detection module continuously models the environment. Since the length of the multi-mode cleaning component 42 is fixed, its extended length in different postures can be geometrically calculated by the control system based on the current posture angle and fixed length of the multi-mode cleaning component 42. Combined with the environmental model of the laser detection module, the control system can determine whether the multi-mode cleaning component 42 can reach the target area (such as walls, corners, or deep under beds). When it is determined that the target area can be reached, the control system controls the multi-mode cleaning component 42 to change its posture in advance and controls the body 1 to move towards the target area. During the movement of the body 1 towards the target area, the operating parameters (such as torque value) of the drive component 31 of the multi-mode cleaning component 42 are acquired. When the operating parameters change, it is determined that the multi-mode cleaning component 42 has contacted the target area, and the body 1 is controlled to stop moving.

[0031] The control system is located inside the machine body 1 and is connected to the walking mechanism 2, the cross-level movement mechanism 3, the cleaning system 4, and the navigation system. It controls the actions of the walking mechanism 2, the cross-level movement mechanism 3, and the cleaning system 4 based on information from the navigation system. The control system includes an attitude detection unit, specifically an inertial measurement unit, located on the machine body 1, used to detect the tilt angle of the machine body 1 in real time. The control system adjusts the output of the drive component 31 based on the detection signal from the attitude detection unit. During climbing or traversing, the attitude detection unit monitors the tilt angle of the machine body 1 in real time, and the control system dynamically adjusts the output of the drive component 31 based on the tilt angle signal to maintain the tilt angle of the machine body 1 within a safe range, achieving closed-loop attitude control during the climbing process and ensuring smooth and safe climbing.

[0032] It also includes an energy management module, a liquid supply management module, and a drying module, all connected to the control system. The energy management module, located inside the main body 1, detects the electrical energy level and triggers the main body 1 to return to the charging station for recharging when the level falls below a threshold. The liquid supply management module, also located inside the main body 1, detects the cleaning fluid level and triggers the main body 1 to return to the replenishment station for water replenishment when the level falls below a threshold. The drying module, located on the main body 1, dries the mop of the multi-mode cleaning component 42 to prevent bacterial growth.

[0033] This invention provides a cleaning control method, wherein the control system performs the following steps: The modeling data obtained by the navigation system for modeling the environment includes information such as a three-dimensional spatial map, the current position of the fuselage 1, the position of the target area, and the range of the floor area.

[0034] The reachable range of the multi-mode cleaning component 42 is determined based on the current posture information of the multi-mode cleaning component 42, and it is determined whether the reachable range covers the target area based on the modeling data. The reachable range is determined by the fixed length of the component and the current posture angle. The target area is the surface to be cleaned, including wall surfaces, corner areas, and low spaces on the ground.

[0035] If it is determined that the reachable range covers the target area, the multi-mode cleaning component 42 is controlled to change its posture, and the body 1 is controlled to move towards the target area for cleaning. Specifically, when the target area is a corner, the cleaning module is switched to the scraping module, and the scraping module is controlled to extend into the corner of the wall for scraping and cleaning as the body 1 approaches the corner. When the target area is the ground, the mopping module is switched to perform wet mopping. After the ground is cleaned, the multi-mode cleaning component 42 is controlled to lift up to perform wet mopping on the wall.

[0036] If the reachable range does not cover the target area, the floor area where the fuselage 1 is located is determined based on the modeling data. If it is on the same floor, the fuselage 1 is controlled to move towards the target area along the planned path. During this process, the navigation system continuously updates the modeling data, and the control system recalculates the reachable range and makes a judgment in each control cycle until the reachable range covers the target area and then cleaning is performed. If a floor transition area is identified, the cross-floor moving mechanism 3 is controlled to move relative to the fuselage 1 to cross to the adjacent floor. During the crossing, the driving force of the cross-floor moving mechanism 3 is adjusted in real time according to the attitude information of the fuselage 1. At the same time, the cleaning system 4 is controlled to pause the operation and retract the multi-mode cleaning component 42 to the outline of the fuselage 1 to prevent collision damage. The cleaning operation is resumed after the fuselage 1 has completely crossed and returned to a flat state.

[0037] When the target area is a corner, the multi-mode cleaning component 42 is switched to the scraping module. When cleaning the corner, the scraper or scraper of the scraping module extends into the corner area to scrape up the dust, debris and stubborn stains, and the negative pressure generator sucks the dirt into the dust collection container.

[0038] When the target area is the ground, the multi-mode cleaning component 42 is controlled to switch to the mopping module. When cleaning the ground, the gathering component 411 of the sweeping module 41 gathers the garbage on both sides of the body 1 to the middle, the sweeping component 412 rolls up the garbage, and the negative pressure generator sucks the dust and garbage into the dust collection container. The multi-mode cleaning component 42 performs constant wet mopping on the ground in the mopping mode.

[0039] After the floor cleaning is completed, the multi-mode cleaning component 42 is raised to wet mop the wall. When cleaning the wall, the multi-mode cleaning component 42 switches to the mopping module and is raised so that the mop cloth fits against the low wall. The body 1 moves horizontally to drive the mop cloth to perform wet mopping cleaning.

[0040] When moving across floors, the navigation system's laser detection module identifies obstacles such as stairs or thresholds. The control system then controls the movement of the cross-floor movement mechanism 3, causing the front end of the walking component 33 to contact the step facade. Continuous driving force causes the walking component 33 to climb up the steps one by one. At the same time, the attitude detection unit monitors the tilt angle of the body 1 in real time, and the control system dynamically adjusts the output of the drive component 31 to ensure a safe and stable climb. This mechanism is also suitable for passage scenarios such as carpets and ramps.

[0041] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the scope of the technology disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. All should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0042] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A multi-floor cleaning robot, characterized in that, include: fuselage (1); The walking mechanism (2) is located at the bottom of the body (1); A cross-layer moving mechanism (3) is provided on both sides of the fuselage (1). The cross-layer moving mechanism (3) includes a driving component (31) provided on both sides of the fuselage (1), a movable support (32) and a walking component (33) connected to the movable support (32). The driving component (31) drives the walking component (33) to move relative to the fuselage (1) through the movable support (32). The fuselage (1) can climb or cross obstacles by adjusting its posture. The cleaning system (4) includes a cleaning module (41) disposed at the bottom of the body (1) and a multi-mode cleaning component (42) disposed at the front end of the body (1). A navigation system is installed on the fuselage (1); The control system is connected to the walking mechanism (2), the cross-layer moving mechanism (3), the cleaning system (4) and the navigation system respectively, and controls the actions of the walking mechanism (2), the cross-layer moving mechanism (3) and the cleaning system (4) according to the information of the navigation system.

2. The cross-floor cleaning robot according to claim 1, characterized in that, It also includes an attitude detection unit that is connected to the control system. The attitude detection unit is disposed on the fuselage (1). The control system adjusts the output of the drive unit (31) according to the detection signal of the attitude detection unit.

3. The cross-floor cleaning robot according to claim 1, characterized in that, The multi-mode cleaning component (42) includes a movable connector (421), a connection interface (422), and a cleaning module (423). One end of the movable connector (421) is connected to the body (1), and the other end is provided with the connection interface (422). The cleaning module (423) is detachably connected to the movable connector (421) through the connection interface (422).

4. A cross-floor cleaning robot according to claim 3, characterized in that, The movable connector (421) includes a first connecting arm (4211), a second connecting arm (4212), a lifting motor (4213), and a servo motor (4214). The lifting motor (4213) is mounted on the fuselage (1) and is connected to the first connecting arm (4211) in a transmission manner. The servo motor (4214) is connected between the first connecting arm (4211) and the second connecting arm (4212) and is used to drive the second connecting arm (4212) to rotate relative to the first connecting arm (4211). The connection interface (422) is located at the end of the second connecting arm (4212) away from the servo motor (4214).

5. A cross-floor cleaning robot according to claim 1, characterized in that, The cleaning module (41) includes a gathering component (411), a sweeping component (412), and a negative pressure generating component. The gathering component (411) and the sweeping component (412) are located at the bottom of the machine body (1). The negative pressure generating component is located inside the machine body (1). The air intake of the negative pressure generating component is connected to the area where the sweeping component (412) is located. The negative pressure generating component is connected to the dust collection container.

6. A cross-floor cleaning robot according to claim 1, characterized in that, The navigation system includes a laser detection module and an auxiliary sensing module, which are respectively connected to the control system.

7. A cross-floor cleaning robot according to claim 1, characterized in that, It also includes an energy management module, a liquid supply management module and a drying module, which are respectively connected to the control system. The energy management module is used to trigger the fuselage (1) to return to the charging station, the liquid supply management module is used to trigger the fuselage (1) to return to the replenishment station, and the drying module is used to dry the multi-mode cleaning component (42).

8. A control method for a cross-floor cleaning robot according to any one of claims 1-7, characterized in that, include: Obtain the modeling data used by the navigation system to model the environment; The reachable range of the multi-mode cleaning component (42) is determined based on the current attitude information of the multi-mode cleaning component (42), and whether the reachable range covers the target area is determined based on the modeling data. If so, the multi-mode cleaning component (42) is controlled to change its posture, and the body (1) is controlled to move toward the target area for cleaning; If not, the floor area where the fuselage (1) is located is determined based on the modeling data; If they are on the same floor, the machine body (1) is controlled to move to change the relative position of the machine body (1) and the target area, and the judgment step is repeated until the reachable range covers the target area and then the machine body (1) is controlled to clean. If a floor transition area is identified, the cross-floor moving mechanism (3) is controlled to move so that the walking component (33) moves relative to the machine body (1) to cross to the adjacent floor, and the driving force of the cross-floor moving mechanism (3) is adjusted according to the posture information of the machine body (1) during the crossing process.

9. The control method according to claim 8, characterized in that, Also includes: When the target area is a corner, the multi-mode cleaning component (42) is controlled to switch to the removal module; When the target area is the ground, control the multi-mode cleaning component (42) to switch to the mopping module; After the floor is cleaned, control the multi-mode cleaning component (42) to lift and wet mop the wall.

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