155 results about "Stair climbing" patented technology

The invention relates to an automatic inspection four-legged robot dog based on a standard substation environment, which is applied to the field of robot dogs for inspection, and comprises a robot dog main body, the output end of a driving motor is connected with a thigh arm, the side surface of the robot dog main body is provided with a hydraulic push rod, and the tail end of the thigh arm is connected with a shank arm through a shaft; the surface of the shank arm is movably connected with the power end of the hydraulic push rod; distance sensors are installed at the positions, corresponding to the thigh arms and the shank arms, of the bottom of the robot dog body, a deformation supporting unit used for assisting the shank arms to conduct motion state switching is installed on the surface of the position, close to the foot end, of each shank arm, and the deformation supporting units and the hydraulic push rods are matched, and the inspection auxiliary system is used for recognizing road conditions; the robot dog performs targeted inspection state switching on the flat ground and the gravel ground, the robot body is kept horizontal through difference adjustment of the front hydraulic push rod and the rear hydraulic push rod when the robot dog climbs stairs, and V-shaped supporting is formed in combination with rotation of the rollers, so that stability is enhanced.

The invention relates to a robot variable foot end and a building interior self-adaptive stair climbing robot, and belongs to the technical field of robots. A main rotating joint comprises a main rotating connecting arm and a first rotating power element, one end of the main rotating connecting arm is hinged to a robot body, and a claw is arranged at the other end of the main rotating connecting arm; the foot end folding joint comprises a folding connecting arm and a second rotating power element, one end of the folding connecting arm is hinged to the side, close to the hook claw, of the main rotating connecting arm, and the suction cup is arranged at the other end of the folding connecting arm. The first rotating power element drives the main rotating connecting arm to rotate downwards, so that the hook claw can tightly grasp the damaged step surface to avoid unstable contact, when the friction coefficient of the step surface of the stair step is smaller than 0.5, the second rotating power element drives the folding connecting arm to rotate downwards, and the suction cup can be connected with the step surface in an adsorption mode to avoid slipping. The foot end can adapt to stair steps in different states.

The utility model relates to the technical field of wheelchairs, and provides a front wheel driving type stair climbing chair which comprises a chair frame, and a seat plate and a backrest are arranged on the chair frame. Two groups of obliquely arranged track frames are fixedly mounted at the side rear part of the chair frame; a track is mounted on the track frame; the chair frame is further provided with a stair climbing motor used for driving the two crawler belts to rotate synchronously. Two front wheels are mounted at the front end of the chair frame; a rotating shaft is arranged on the chair frame; the two ends of the rotating shaft are fixedly connected with rear wheel legs respectively, and rear wheels are installed on the rear wheel legs. The front wheel is a driving wheel; and the rear wheel is a driven wheel. Therefore, the front wheels are arranged to be the driving wheels, the wheel tread width is small, and then the turning radius is reduced. The structure of the rear wheels is simplified, spacing is reduced, and access to the door frame is facilitated. When the stair climbing chair steers in a narrow space, one front wheel serves as a turning fulcrum, the back and the side faces of the stair climbing chair have enough space, steering operation is convenient and fast, and safety is good. The front wheel is a driving wheel, so that the risk that the stair climbing chair turns backwards during sudden acceleration is also avoided.

The invention relates to a climbing device applied to cleaning equipment and a cleaning assembly. The climbing device comprises a holding mechanism and a lifting mechanism, the holding mechanism is used for holding the cleaning equipment, and the cleaning equipment is fixedly connected to the holding mechanism. The lifting mechanism and the holding mechanism are configured to be in sliding connection in the first direction, so that the holding mechanism and the lifting mechanism move relatively in the first direction, and the lifting mechanism drives the holding mechanism to move in the second direction through telescopic action; the first direction is perpendicular to the second direction. The climbing device is provided with the holding mechanism and the lifting mechanism, so that the cleaning equipment can be assisted to climb height difference structures such as stairs, the climbing device can be compatible with various cleaning equipment, and the adaptation range is wide.

A stair climbing chair comprises a bottom frame, a seat, a first crawler belt mechanism, a telescopic frame and a second crawler belt mechanism, the seat is installed on the bottom frame in a swinging mode and used for carrying people or objects, the first crawler belt mechanism is fixed to the bottom frame and used for providing first power for climbing of the stair climbing chair, the telescopic frame is installed on the bottom frame in a telescopic mode, and the second crawler belt mechanism is fixed to the telescopic frame and used for providing second power for climbing of the stair climbing chair. The telescopic frame slides relative to the bottom frame to adjust the distance between the first track mechanism and the second track mechanism, so that the bottom width of the stair-climbing chair is changed, and it is guaranteed that the gravity center of the stair-climbing chair is located between the first track mechanism and the second track mechanism all the time in the moving process of the stair-climbing chair; and the stability of the stair-climbing chair is ensured.

The utility model discloses a wheelchair auxiliary stair climbing device, which relates to the technical field of wheelchair auxiliary equipment and comprises a base, first telescopic connecting plates are arranged on the left side and the right side of the base, fixing rods are rotatably arranged at the upper ends of the two first telescopic connecting plates in a penetrating manner, one ends of the fixing rods are fixedly mounted on the outer wall of the base, and the other ends of the fixing rods are fixedly mounted on the outer wall of the base. A first sleeve is fixedly connected to the lower end of the first telescopic connecting plate, a first lifting wheel is rotationally arranged outside the first sleeve, a movable groove is formed in the rear side of the base, second telescopic connecting plates are symmetrically arranged in the movable groove, and the upper ends of the two second telescopic connecting plates are rotationally arranged at the top of the movable groove through hinges. A second sleeve is fixedly connected to the lower end of the second telescopic connecting plate, a second lifting wheel is rotationally arranged outside the second sleeve, a stair climbing assembly is arranged on the first lifting wheel and the second lifting wheel, and the first lifting wheel and the second lifting wheel are circularly and alternately supported and ascend step by step. And carrying is not convenient.

The utility model relates to the technical field of wheelchairs, and provides a rear wheel swinging mechanism which is installed on a chair frame. A rotating shaft is arranged on the chair frame; the two ends of the rotating shaft are fixedly connected with rear wheel legs respectively, and rear wheels are installed on the rear wheel legs. The rear wheel swinging mechanism comprises a driving frame body and an inclined electric cylinder mounted on the chair frame, and a telescopic part of the inclined electric cylinder is rotationally connected to the driving frame body; the driving frame body comprises a cross beam rod; the two ends of the cross beam rod are each fixedly provided with an auxiliary swing arm, and a main swing arm fixedly connected with the cross beam rod is arranged between the two auxiliary swing arms. The main swing arm is fixedly connected with the spindle; the auxiliary swing arm is fixedly connected with a rear wheel leg. In this way, the auxiliary swing arm and the rotating shaft are fixedly connected with the rear wheel leg, and the auxiliary swing arm and the rotating shaft share the driving load of the rear wheel leg together. Compared with an existing structure, the rotating shaft and the driving frame jointly bear the torque for driving the rear wheel legs to rotate and the bending moment generated by supporting the weight of the stair climbing chair, and the stress structure is optimized; and the sectional area of the cross beam rod is greatly reduced. The utility model further provides a stair climbing chair.

The utility model discloses a stair -climbing triangular wheel with brake function, apply to in the cart, and the stair -climbing triangular wheel includes frame, axle and triangular wheel subassembly, and the triangular wheel subassembly includes triangular wheel frame and three gyro wheels on the triangular wheel frame, and the stair -climbing triangular wheel still includes sliding sleeve structure, drive unit and brake frame, two sliding sleeve structures are respectively slidingly connected in the both sides of axle, and drive unit is located between two sliding sleeve structures, is used for driving sliding sleeve structure to move to triangular wheel subassembly, is equipped with first return spring between sliding sleeve structure and frame, brake frame slidingly connects on the triangular wheel frame, and brake frame is located between triangular wheel subassembly and sliding sleeve structure, is equipped with first brake structure on brake frame and gyro wheel, and is equipped with second brake structure between triangular wheel frame and sliding sleeve structure. The user through drive unit realizes synchronous locking of triangular wheel gyro wheel and triangular wheel frame, and the security of using above -mentioned stair -climbing triangular wheel with brake function is ensured.

The utility model provides a stair climbing machine and a cleaning robot system. The stair climbing machine comprises a main body, wherein a mounting opening is formed in the bottom of the main body; the bearing disc is located at the mounting opening and rotationally connected with the main body through the rotating device; the two supporting arms are connected to the two sides of the main body respectively, and the first ends of the supporting arms are rotationally connected with the main body so that the supporting arms can be folded or unfolded relative to the main body; the second end of the supporting arm is rotationally connected with the supporting foot, so that the supporting foot can be folded or unfolded relative to the supporting arm; a first avoiding opening is formed in the position, opposite to a cleaning part of the cleaning robot, of the bearing disc, and the cleaning part makes contact with the surface to be cleaned through the first avoiding opening. Therefore, the stair climbing machine can bear the cleaning robot to achieve the stair climbing operation, the step face of the stair can be cleaned, the operation range and the cleaning range of the cleaning robot are expanded, and the use satisfaction degree of a user is improved.

The utility model relates to the technical field of stair carrying, in particular to a chain type stair climbing carrier which comprises a bottom plate, a support installed on the bottom plate, a triangular support installed on the support, stair climbing wheels installed on the triangular support and a transmission structure installed on the support and used for providing power for the triangular support. The tripod is installed on the bottom plate through a rotating rod, the rotating rod is rotationally connected with the bottom plate, three stair climbing wheels are installed on the tripod, a transmission motor is installed on the tripod, the power output end of the transmission motor is fixedly connected with one stair climbing wheel, and the power output end of the transmission motor is fixedly connected with the other stair climbing wheel. The three stair climbing wheels are connected through a transmission belt. Therefore, by means of the chain type stair-climbing carrier, the technical problems that the coordination of a power system and a walking system is insufficient, and the gravity center is prone to being unstable when large objects are carried can be solved.

The embodiment of the invention provides a control method and device for a stair climbing device, equipment, a storage medium and a cleaning system.The downstairs control method comprises the steps that in the process that a second crawling arm rotates relative to a device body, if the included angle between the second crawling arm and the bottom side of the device body is within a preset range, the second crawling arm is driven to go downstairs; if yes, detecting whether the anti-clamping piece is lifted or not through the second detection assembly; and under the condition that it is detected that the anti-pinch piece is lifted, the stair climbing device is controlled to execute the anti-pinch action. According to the method, anti-pinch detection and control of the stair climbing device are achieved, pinching accidents are avoided, and the safety of the stair climbing device and the experience feeling of a user are improved.

The invention discloses a stair-climbing anti-explosion inspection robot which comprises an anti-explosion box body, a four-wheel drive system, a stair-climbing mechanism, a sliding table distance adjusting device and a multifunctional detection module. The four-wheel driving system is arranged in the anti-explosion box body and is connected with the stair climbing mechanism; the stair climbing mechanism comprises a wheel assembly, and the wheel assembly is in transmission connection with the four-wheel drive system through a spline structure. The sliding table distance adjusting device is used for driving the spline structure to move axially and adjusting the relative distance between a stair climbing gear and a guide wheel in the wheel assembly. The walking wheels on the road drive the trolley to move, and the stair climbing gears drive the trolley to go upstairs and downstairs during stair climbing. The multifunctional detection module comprises a plurality of functional units. According to the stair-climbing anti-explosion inspection robot, the structural arrangement of motor full built-in and shaft seal dual protection is adopted, and the safety of the stair-climbing anti-explosion inspection robot is greatly improved; a wheel track self-adaptive mechanism is adopted, so that the adaptability is improved; according to the data collected by the multifunctional detection module, AI multi-mode diagnosis and multi-sensor data fusion diagnosis can be combined, so that the intelligence is greatly improved.

The invention relates to a multi-mode walking robot, and belongs to the technical field of robotics.The multi-mode walking robot comprises a robot body, a robot head is installed at the top of the robot body, hands are installed on the two sides of the robot head, legs are installed on the robot body, and wheel adjusting mechanisms are fixedly connected to the legs; the positioning mechanism is fixedly connected in the leg part and is used for positioning the wheel adjusting mechanism; the scraping mechanism is fixedly connected in the leg part, a driving wheel is arranged in the leg part, and the scraping mechanism is used for scraping the driving wheel. According to the walking robot, by arranging the legs, the walking robot can conduct two-wheel walking or four-wheel walking or leg lifting and step climbing operation, the walking robot can adapt to a lawn or a rugged road surface, the occupied area can be adjusted according to the height in the environment and the size of the environment, meanwhile, the leg lifting and step climbing operation can be conducted according to the walking environment, and the walking robot is convenient to use. The adaptive capacity of the walking robot to the environment is improved, and walking of the walking robot is facilitated.

The utility model discloses a multifunctional bodybuilding stair climbing machine and walking machine combined device, which relates to the technical field of bodybuilding equipment and comprises a main body structure, a transmission structure, an adjusting structure and a supporting structure. A main frame of the main body structure is connected with a fixing rod and a grip through a first connecting rod and a second connecting rod respectively, the transmission structure achieves switching of a flat walking machine mode and a stair climbing machine mode through a pedal, a pulley block and a transmission rope, and the adjusting structure is driven by a hydraulic damping system and a motor to adjust pedal resistance. The supporting structure adopts a rotating shaft and a moving wheel to realize convenient switching between fixing and moving of the equipment. The multifunctional walking machine integrates the functions of a walking machine and a stair climbing machine and has damping adjustability, meanwhile, the installation stability and the moving flexibility are improved through the supporting structure, and the diversified fitness requirements of users are met.

The invention discloses a stair-climbing vehicle and a stair-climbing method, and belongs to the technical field of stair-climbing vehicles. The stair-climbing vehicle comprises a frame, a handlebar, a walking device, a stair-climbing device and a power device; the walking device comprises a power wheel, and the power wheel is installed at the tail end of the frame. The stair climbing device comprises a pushing and lifting mechanism, the lifting end of the pushing and lifting mechanism is located between the power wheel and the head end of the frame, the lifting end of the pushing and lifting mechanism can ascend and descend, and an acute included angle is formed between the lifting direction of the lifting end and the kicking face of the stair; the power device is used for driving the power wheel and the pushing and lifting mechanism. In the stage of going upstairs and downstairs, the power wheels can climb or fall down along the kicking surfaces of the stairs by utilizing mechanical force in the inclined direction of the pushing and lifting mechanism and matching with power of the power wheels, so that climbing or crossing of one stair is completed, the climbing mode is not divided into the sizes and the heights of the stairs, climbing of various types of stairs is achieved, and the climbing efficiency is improved. Therefore, the stair climbing vehicle is wider in application scene and can climb stairs in various shapes.

The invention relates to the technical field of medical equipment, in particular to a stair climbing mechanism and a sampling robot, and the stair climbing mechanism comprises a stair climbing assembly with a mounting plane at the top; the two groups of supporting assemblies are respectively positioned on the mounting plane; the supporting assembly comprises a sliding piece arranged on the installation plane in a sliding mode, a connecting rod rotationally connected with the sliding piece and an installation assembly, and the bottom of the supporting assembly is rotationally connected with the connecting rod. The driving assembly comprises an air distribution piece arranged on the installation plane, an air inlet piece arranged on the installation plane and connected with the air distribution piece, and two telescopic pieces matched with the two ends of the air distribution piece. According to the stair climbing mechanism and the sampling robot, when the stair climbing assembly carries out stair climbing operation, the inclination state of the mounting assembly is changed through the supporting assembly, so that the gravity center of a heavy object on the mounting assembly is kept above the stair climbing assembly, and it is ensured that the stair climbing assembly does not turn over due to inclination of the gravity center.

The utility model discloses a walking device and track connecting structure of a seat type walking-replacing upstairs-going vehicle. The walking device and track connecting structure comprises an upstairs-going vehicle compartment and a square and circular track assembly. The square and round rail assembly comprises an upper rail, a lower rail and a rail connecting plate, the two ends of the rail connecting plate are connected with the upper rail and the lower rail correspondingly, the upper rail and the lower rail each comprise a rail square pipe and a rail round pipe, and the rail round pipes are welded to the outer sides of the rail square pipes; due to the fact that the connecting winding belt and the tooth-shaped straight belt are in flexible connection with the winding belt shaft and the power gear respectively, the situation that a traditional gear makes rigid contact with a rack plate, noise is generated due to friction is avoided, noise is reduced, and the service life of the gear and the rack plate is prolonged. And meanwhile, the upstairs vehicle compartment is in contact with the rail circular pipes in the upper rail and the lower rail through the U-shaped concave wheels installed on the walking device vertical plates, the stability of connection between the upstairs vehicle compartment and the square and circular rail assembly can be improved, noise can be lowered, and the upstairs vehicle runs more stably.

The invention provides a stair climbing device and a cleaning system, and relates to the technical field of stair climbing devices. The stair climbing device is at least used for carrying the self-moving equipment and comprises a supporting plate and a lifting device, the bottoms of the two first crawling arms are connected to the two sides of the supporting plate in the first direction; the supporting plate and the two first crawling arms jointly define a containing space used for containing the self-moving device. The containing space comprises an opening allowing the self-moving device to enter and a supply assembly arranged opposite to the opening, and the supply assembly is configured to carry out at least one maintenance operation on the self-moving device parked in the containing space. According to the stair climbing device provided by the embodiment of the invention, the problem that the user experience feeling is poor due to the fact that the floor sweeping robot cannot autonomously cross stairs can be solved.

The utility model relates to an intelligent mechanical stair climbing device which comprises a chassis, first steering engines, second steering engines, fixed rear wheels, variable sawtooth walking wheels, a storage box, a control box, a control panel and a power source, the first steering engines are arranged on the two sides of the rear end of the top of the chassis, and the output ends of the first steering engines are connected with the fixed rear wheels; the variable sawtooth walking wheel is arranged in the center of the front end of the chassis, second steering engines are arranged on the portions, located on the two sides of the variable sawtooth walking wheel, of the top of the chassis and used for controlling walking and deformation of the variable sawtooth walking wheel respectively, storage boxes are arranged on the two sides of the front end of the top of the chassis, and a control box is arranged at the rear end of the top of the chassis. The control panel and the power supply are both arranged in the control box, the control panel is electrically connected to the power supply, and the chassis is further provided with an anti-collision monitoring assembly and a lighting assembly which are electrically connected with the control panel. The stair climbing device has the advantages of being more stable and reliable compared with a crawler-type stair climbing device, low in noise, low in cost, high in flexibility, high in functionality and the like.

The application relates to the technical field of rescue stretchers, and provides a folding medical rescue stretcher convenient for climbing stairs, which comprises a stretcher main body; in the application, the left upper corner pinch plate is pulled downward to drive the deflection of a rotating rod, the deflection of the rotating rod drives the deflection of a clamping block, the clamping block is separated from a pull rod in the fourth sliding groove at the top end, at this time, the pull rod is pulled to move along the fourth sliding groove and contact the inclined surface of the clamping block at the other end, in the moving process of the pull rod, a limiting ring gradually rises from the stretcher main body, then continues to move, the pull rod extrudes the inclined surface of the clamping block, the clamping block is gradually deflected and extrudes a first spring, then the pull rod passes through the clamping block and contacts the plane of the clamping block, and the limiting is completed; at this time, the limiting ring on one side is in the raised state, then the operation is repeated to raise the limiting ring on the other side, one limiting ring is located at the shoulder, the other limiting ring is located at the armpit, and the two limiting rings are closed to each other and can fix the two shoulders and the legs of a patient, so that deviation during movement is avoided.

1. Name of the product in this design: Stair Climbing Machine (Simple Magnetic Control). 2. Purpose of this design: This design is for fitness purposes. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The utility model relates to the technical field of fire fighting equipment, and provides an auxiliary stair climbing vehicle for fire fighting, which comprises a vehicle head and a vehicle body, the vehicle body is fixed on one side of the vehicle head, support structures are arranged on two sides of the bottom end of the vehicle body, a fixed seat is fixed on one side of the top end of the vehicle body, and a rotating structure is arranged in the fixed seat. A rotating disc is arranged on one side of the top end of the fixing base. By arranging the adjusting structure, the second electric push rod is started, the second electric push rod drives the working bearing table to rotate, the working bearing table drives the hinge seat to rotate in the supporting frame, then the angle of the working bearing table is changed, and the working bearing table is in a balanced state all the time; and the stability and safety of the working bearing table in the operation process are ensured, the function that the angle of the device is convenient to adjust is achieved, and therefore the stability of the auxiliary stair climbing vehicle for fire fighting in the using process is improved.

The utility model is applicable to the technical field of household appliances, and provides a connecting device, a stair climbing machine and a cleaning system, and the connecting device is mounted on stair climbing equipment and at least used for loading a cleaning host. The connecting device comprises a connecting platform, a load part and a movable matching part, the load part is in sliding connection with the connecting platform through the movable matching part in the first direction, and the load part rotates along with sliding displacement relative to the connecting platform. The connecting device can be used for guiding the cleaning main machine to move to the stair climbing equipment and can be matched with the stair climbing equipment, and the adaptability of the cleaning equipment to the ground environment with the height difference is improved.

The invention provides a control method and system for an intelligent mobile terminal and the intelligent mobile terminal, and the method comprises the steps: determining a virtual plane in a climbing process of the intelligent mobile terminal according to stair parameters; acquiring a knee joint angle calculated based on data detected by a knee joint motor, a pitch angle calculated based on data detected by an inertial measurement unit (IMU), and the length of a thigh structural member; calculating the distance between the seat and the virtual plane based on the angle and length of the knee joint; calculating an angle difference based on a difference between the distance and an expected distance; a knee joint motor is controlled to conduct angle adjustment according to the angle difference value, and the seat is adjusted to the target height; the hip joint motor is controlled to conduct angle adjustment according to the pitching angle, so that the seat and the ground are kept within a preset included angle range. According to the method, the comfort and safety of the target object carried by the intelligent mobile terminal in the stair climbing process can be improved.

1. The name of the design product: stair climber. 2. The use of the design product: for stair climbing exercise, leg fitness. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The utility model relates to a stair machine which comprises a bottom frame assembly, a pedal assembly, a power assembly, a first wheel set, a transmission part and a second wheel set. The two first wheel sets are rotationally arranged at the positions, close to the two ends, of the underframe assembly respectively. The transmission part is wound on the two first wheel sets and connects the two first wheel sets; the at least one second wheel set is rotationally arranged on the underframe assembly, is connected with the transmission part, rotates with the two first wheel sets at the same time, and is located on the sides, close to the bearing plane, of the two first wheel sets, so that the length of the transmission part is increased; the pedal assemblies are connected end to end and bent to form steps for stair climbing training, and the two ends of the pedal assemblies are rotationally connected with the transmission parts correspondingly; the power assembly is arranged on the bottom frame assembly and used for driving the pedal assembly to move. According to the stair machine, under the condition that the height is kept unchanged, the length of the transmission part can be increased, the stepping depth of the pedal assembly is increased, the use experience of the stair machine is improved, and space resources are saved.

The application is suitable for the field of intelligent robots, and provides a stair climbing robot capable of intelligently adjusting limbs, which comprises a mechanism groove, a rotating disc rotatably connected in the mechanism groove, a first motor fixedly connected with the rotating disc, and an output shaft of the first motor rotatably connected with a main body; the rotating disc is fixedly connected with two mechanism boxes; the end faces of the mechanism boxes are vertically and slidably connected with two outer sleeves; a transmission shaft is rotatably connected in each outer sleeve; the transmission shaft is rotatably connected with a rack rod; and a driving mechanism is arranged in the mechanism box. The stair climbing robot capable of intelligently adjusting limbs provided by the application can continue to shorten the third electric telescopic rod until the mechanism box drives the main body to separate from the ground when the track cannot turn well due to the uneven road surface, and all the auxiliary rods are in elastic abutment with the ground at the same time; at this time, all the rack rods can abut against the ground according to the ground height, thereby stably supporting the main body.

The application relates to the technical field of robot control and discloses a stair climbing control method, system, terminal and storage medium for an upright wheel-legged robot based on reinforcement learning. The method comprises the following steps: establishing a parameterized stair scene and loading a robot model in a physical simulation platform to obtain a simulation environment; a Markov decision process is constructed, the Markov decision process comprising a state space, an action space and a reward function; according to the Markov decision process, a domain randomization technology is introduced into the simulation environment, and a reinforcement learning algorithm is used to iteratively train a strategy network; the strategy network after training convergence is deployed to a computing platform of a real robot, the computing platform generates a control instruction according to real-time sensor data, and the real robot performs a stair climbing action through the control instruction. The application can reduce the dependence of the upright wheel-legged robot on the modeling precision of a stair environment, and effectively improve the continuity of the stair climbing action of the robot.

The application relates to a multi-floor map display method and a computer readable storage medium. The method comprises the following steps: in response to a map creation instruction, displaying a floor map of a current floor where a self-moving robot is located on a user display interface, and dynamically displaying a mapping process of the floor map of the current floor; in response to the self-moving robot autonomously moving to a next floor, automatically switching the floor map of the current floor on the user display interface to a floor map of the next floor, and dynamically displaying a mapping process of the floor map of the next floor. By using the method, the problem that an existing sweeper cannot be matched with a stair climbing machine, so that an application program of the sweeper cannot adapt to the change of the floor where the sweeper is located to automatically update a floor map can be solved, the user does not need to manually switch floors, the functionality and intelligence of the application program can be improved, more convenient and intelligent functions are provided for the user, and the user experience is improved.

The climbing type household sweeping robot comprises a robot shell, the lower surface of the robot shell is fixedly connected with a climbing frame, the inner wall of the climbing frame is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a second gear, and the side face of the second gear is in meshed connection with a guide rail; the side face of the guide rail is fixedly connected with a moving frame, the side face of the moving frame is fixedly connected with a second motor, the interior of the moving frame is rotationally connected with rear wheels, the output end of the second motor is fixedly connected with the side faces of the rear wheels, and a laser sensor is arranged on the lower surface of the robot shell. Stair climbing in a duplex home environment is conveniently achieved, so that the pressure of manual cleaning is relieved, a cleaning brush usually adopts a high-speed rotating mode to sweep up dust, hair, chippings and other sundries on the ground, and large garbage such as paper balls and zip-top cans is picked up through the additionally-arranged mechanical arm.