CN114376449A - Robot for cleaning stair steps and guardrails and cleaning method thereof - Google Patents

Abstract

The invention discloses a robot for cleaning stair steps and guardrails, which comprises a machine body, wherein cameras are respectively arranged on the left side surface, the right side surface and the top surface of the machine body, a moving supporting arm is fixedly arranged on the front side surface of the machine body, a stair cleaning arm and a stair handrail cleaning arm are respectively and fixedly arranged on the rear side surface of the machine body, a wheel-leg type moving mechanism is arranged at the bottom of the machine body, and a power supply and a controller which are respectively connected with the moving supporting arm, the stair cleaning arm, the stair handrail cleaning arm and the wheel-leg type moving mechanism are arranged in the machine body. Also discloses a cleaning method of the robot. When cleaning, the cleaning operation is completed according to the sequence from the top layer to the bottom layer. According to the environmental information and the operation requirement fed back by the camera, the gait of the wheel-leg type movement mechanism of the stair cleaning robot is called timely, the robot is made to reach a cleaning operation field, the stair cleaning arm is used for cleaning the stair tread and the stair vertical surface, and the stair handrail cleaning arm is used for cleaning the stair handrail and the stair guardrail.

Description

Robot for cleaning stair steps and guardrails and cleaning method thereof

Technical Field

The invention relates to an intelligent cleaning technology, in particular to a robot suitable for cleaning stairs and guardrails and a cleaning method thereof.

Background

Chinese patent application 201410146501.0 discloses a translational rotary legged stair cleaning robot and a method for going upstairs and downstairs. The stair cleaning robot can realize back-and-forth cleaning on stair tread and also has the function of cleaning on flat ground. However, the guardrail cleaning function is not provided.

Chinese patent application 201711035140.2 discloses a stair surface cleaning method for an intelligent stair cleaning robot. The stair surface cleaning method of the stair cleaning robot comprises the following steps: firstly, the cleaning surface of the ladder is determined, and then a cleaning route suitable for the cleaning surface is planned according to the cleaning surface, so that the normal and orderly cleaning work of the robot is ensured. This patent application does not relate to the cleaning of stair handrails.

Chinese patent application 201810976563.2 discloses a stair cleaning robot. This stair cleaning machines people is through adopting wheel pole and wheel hub threaded connection, adjusts wheel hub's diameter when rotatory wheel pole, makes wheel hub can advance on the step of co-altitude not, has enlarged cleaning machines people's application range. However, this patent application does not relate to the guardrail cleaning function.

Chinese patent application 201910014709.X discloses an intelligent stair cleaning robot. This stair cleaning machines people can satisfy the automatic operation of cleaning of all kinds of different structure type stair structures on the one hand to effectual improvement stair clean the degree of automation of operation, on the other hand can be in effective clean step, still reduce the degree of smoothness of step face when reducing the dust, avoid appearing accidents such as slipping. However, this patent application does not relate to guardrail cleaning.

Chinese patent application 202011210547.6 discloses a stair cleaning robot. This stair cleaning machines people cleaning motor and lead screw motor start, rotate pinion round fixed gear revolution on one side, and on the other side round self axis rotation, and then drive the cleaning head and do the motion the same with the pinion, simultaneously under the effect of cleaning motor and lead screw, the cleaning head still can have a linear motion's process, and two motions merge together and just realize the cleanness of stair. This patent application does not relate to guardrail cleaning operations.

Chinese patent 201620318330.X discloses an automatic stair cleaning robot. The stair cleaning robot can automatically climb stairs and can realize cleaning of stair steps. However, this patent does not relate to guardrail cleaning.

The stair cleaning comprises three parts of a step tread, a step vertical surface and a guardrail, and the patents do not relate to the cleaning of the guardrail part.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a robot for cleaning stairs and guardrails and a cleaning method thereof.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a be used for clear robot of stair step and guardrail, includes the organism, install a camera on side and the top surface about the organism respectively, fixed mounting has the motion support arm on the leading flank of organism, and fixed mounting has clean arm of stair and the clean arm of stair railing on the trailing flank of organism respectively, and wheel leg formula motion is installed to the bottom of organism, is provided with power and the controller that links to each other with motion support arm, the clean arm of stair railing and wheel leg formula motion respectively in the organism.

The two wheel-leg type movement mechanisms comprise a plurality of driving motors, connecting frames and extension bars, wherein an output shaft of a first leg driving motor is fixedly connected with a first leg connecting frame to form a leg transverse rolling joint;

the first leg connecting frame is fixedly connected with the second leg connecting frame, and the second leg driving motor is fixed on the second leg connecting frame;

an output shaft of the second leg driving motor is fixedly connected with the third leg connecting frame to form a first leg pitching joint;

the leg third connecting frame is fixedly connected with one end of the leg first extension bar, the leg fourth connecting frame is fixedly connected with the other end of the leg first extension bar, and the leg third driving motor is fixed on the leg fourth connecting frame;

an output shaft of the leg third driving motor is fixedly connected with the leg fifth connecting frame to form a leg second pitching joint;

the fifth connecting frame of the leg part is fixedly connected with one end of the second extension bar of the leg part, and the wheel leg connecting sleeve is fixedly connected with the other end of the second extension bar of the leg part;

the leg part fourth driving motor support is fixed on the wheel leg connecting sleeve, and the integrated wheel is fixed with the wheel leg connecting sleeve through the fixing nut; the reduction gear is fixed on the integrated wheel, the leg fourth driving motor is fixed on the fourth driving motor support, and an output gear shaft of the leg fourth driving motor is in meshing transmission with the reduction gear.

The stair cleaning arm and the stair handrail cleaning arm have the same structure and are collectively called cleaning arms.

The cleaning arm comprises an arm structure and an end effector connected with the arm structure, the arm structure comprises a plurality of driving motors, a connecting frame and an extension bar, and an output shaft of a first driving motor of the arm is fixedly connected with the first connecting frame of the arm to form a first rotary joint of the arm;

the second arm driving motor is fixed on the first arm connecting frame, and an output shaft of the second arm driving motor is fixedly connected with the second arm connecting frame to form an arm roll joint;

the second arm connecting frame is fixedly connected with a third arm connecting frame, and a third arm driving motor is fixed on the third arm connecting frame;

an output shaft of the third arm driving motor is fixedly connected with the fourth arm connecting frame to form a first arm pitching joint;

the arm fourth connecting frame is fixedly connected with one end of the arm first lengthening rod, the arm fifth connecting frame is fixedly connected with the other end of the arm first lengthening rod, and the arm fourth driving motor is fixed on the arm fifth connecting frame;

an output shaft of the fourth arm driving motor is fixedly connected with the sixth arm connecting frame to form a second arm pitching joint;

the sixth connecting frame of the arm is fixedly connected with one end of the second lengthening rod of the arm, the seventh connecting frame of the arm is fixedly connected with the other end of the second lengthening rod of the arm, and the fifth driving motor of the arm is fixed on the seventh connecting frame of the arm;

an output shaft of the fifth driving motor of the arm part is fixedly connected with the eighth connecting frame of the arm part to form a second rotary joint of the arm part;

the end effector is fixedly connected to the eighth connecting frame of the arm part.

The end effector comprises a cleaning head connecting frame and a spherical mop head, the cleaning head connecting frame is fixedly connected with the eighth connecting frame of the arm part of the cleaning arm, and the spherical mop head is fixed on the cleaning head connecting frame.

The size of the spherical mop head of the stair cleaning arm is larger than that of the spherical mop head of the stair handrail cleaning arm.

The arm structure of the motion support arm is the same as the arm structure of the stair cleaning arm and stair railing cleaning arm, but the end effector structure is different.

The end effector of the movement supporting arm comprises an end effector connecting frame and an L-shaped movement supporting plate, and the end effector connecting frame is fixedly connected with an eighth arm connecting frame of the movement supporting arm and a bottom plate of the L-shaped movement supporting plate respectively.

The machine body comprises a controller box and a power box which are fixedly connected up and down, a power supply connected with the motion supporting arm, the stair cleaning arm, the stair handrail cleaning arm and the wheel leg type motion mechanism is respectively arranged in the power box, and a power supply outlet, a heat dissipation window, a stair handrail cleaning arm mounting platform, a stair cleaning arm mounting platform and a motion supporting arm mounting platform are correspondingly arranged on the wall and the bottom of the power box respectively.

Controllers connected with the motion supporting arm, the stair cleaning arm device, the stair handrail cleaning arm and the wheel leg type motion mechanism are respectively arranged in the controller box, and a signal wire outlet and a heat dissipation window of the controller are respectively and correspondingly arranged on the wall and the bottom of the controller.

The robot still includes clean water tank, the water tank includes the box, and box upper portion is provided with the sealed lid of horizontal pull formula, is provided with the handle on the box side, and the box is inside to be divided into three independent cavity through two vertical boards, all is provided with the wall that is used for spin-drying spherical mop head in every cavity, has the through-hole on the wall.

The cleaning method of the stair step and guardrail cleaning robot comprises the following steps:

step one, according to the environmental information and the operation requirement fed back by the camera, the level road movement gait, the stair ascending gait and the stair descending gait of the wheel-leg type movement mechanism of the stair cleaning robot are called in due time, so that the stair cleaning robot reaches a cleaning operation field, and the stair cleaning robot finishes the cleaning operation according to the sequence from the top layer to the bottom layer;

secondly, when the stair cleaning robot carries out step cleaning operation, two wheel-leg type movement mechanisms are positioned on different stair steps according to environment information fed back by a camera, then a leg second driving motor and a leg third driving motor act, the stair cleaning robot squats, the gravity center position of a machine body is lowered, a leg fourth driving motor is locked, meanwhile, a movement supporting arm swings downwards, and a tail end L-shaped movement supporting plate is in contact with the nearest stair steps, so that the stability of the stair cleaning robot is improved;

thirdly, a stair cleaning arm of the stair cleaning robot swings downwards to be in contact with a stair tread, a spherical mop head at the tail end of the stair cleaning arm is in contact with the operation platform according to the environment information fed back by the camera, and the fifth driving motor of the arm part slowly rotates while the spherical mop head makes Z-shaped motion, so that the cleaning operation of the stair tread and a stair vertical surface is realized;

meanwhile, a stair handrail cleaning arm of the stair cleaning robot swings downwards to be in contact with a stair handrail, according to environmental information fed back by a camera, a spherical mop head with moderate terminal humidity of the stair handrail cleaning arm is in contact with the stair handrail to perform Z-shaped motion, meanwhile, a fifth driving motor of the arm slowly rotates to realize stair handrail cleaning operation, then, the stair handrail cleaning arm moves downwards, the spherical mop head with moderate terminal humidity is in contact with a stair guardrail, and according to guardrail shape information fed back by the camera, the guardrail is cleaned from top to bottom;

fourthly, when the stair cleaning arm of the stair cleaning robot performs stair connection platform cleaning operation, according to environmental information fed back by the camera, the two wheel-leg type movement mechanisms drive the cleaning robot to move to an operation point, then the leg second driving motor and the leg third driving motor act, the stair cleaning robot squats down, the gravity center position of the machine body is lowered, the leg fourth driving motor is locked, the movement supporting arm swings downwards, the tail end L-shaped movement supporting plate of the leg fourth driving motor is in contact with the cleaning operation platform, the stability of the stair cleaning robot is improved, the stair cleaning arm swings downwards and is in contact with the operation platform, the arm fifth driving motor rotates slowly while performing Z-shaped movement, and the ground cleaning operation is completed;

meanwhile, a stair handrail cleaning arm of the stair cleaning robot swings downwards to be in contact with a stair handrail, a spherical mop head with moderate humidity at the tail end of the stair handrail cleaning arm is in contact with the stair handrail according to environmental information fed back by a camera, and the fifth driving motor of the arm slowly rotates while performing Z-shaped motion, so that the stair handrail cleaning operation is realized;

then, the stair handrail cleaning arm moves downwards, the spherical mop head at the tail end of the stair handrail cleaning arm is in contact with a stair guardrail, the guardrail is cleaned from top to bottom according to guardrail shape information fed back by the camera, the stair handrail cleaning arm moves upwards after the guardrail cleaning task is completed, and the spherical mop head at the tail end of the stair handrail cleaning arm is separated from the stair handrail;

and fifthly, after the cleaning operation of the reachable range of the stair cleaning arm is completed, the leg second driving motor and the leg third driving motor of the two wheel-leg type movement mechanisms act, the stair cleaning robot moves to a new operation point of the stair connection platform in a posture recovery movement, and the previous operation is repeated until the cleaning operation of the stair connection platform is completely completed.

Compared with the prior art, the invention has the following characteristics:

1) the stair cleaning robot provided by the invention has two independent cleaning modes, and can realize the integrated cleaning of the stair tread, the stair vertical surface, the stair connecting platform and the stair handrail;

2) the stair cleaning robot provided by the invention adopts a different cleaning mode from the existing cleaning robot, and the wiping of the damp mop head avoids dust and noise;

3) the stair cleaning robot provided by the invention can automatically complete the cleaning and dehydration of the mop head in the cleaning water tank;

4) the stair cleaning robot provided by the invention adopts the wheel-leg type movement mechanism, has the double advantages of wheel-foot type and wheel type movement, is provided with the movement supporting arm, and overcomes the defect of poor stability of the standing state of the leg-foot type robot. The obstacle-crossing capability of the leg-foot type robot is achieved, and the robot has the advantage of low energy consumption in flat road operation.

5) The stair cleaning robot provided by the invention can also be used for cleaning and wiping the floor and the wall of an elevator, and has the characteristics of good universality and wide application range.

Drawings

FIG. 1 is a schematic view of a stair cleaning robot of the present invention;

FIG. 2 is a schematic view of a clean water tank of the present invention;

FIG. 3 is a schematic view of the wheel-leg type moving mechanism of the stair cleaning robot of the present invention;

FIG. 4 is a schematic view of a stair cleaning robot cleaning arm of the present invention;

FIG. 5 is a schematic view of a stair cleaning robot arm of the present invention;

FIG. 6 is a schematic view of a stair cleaning robot cleaner of the present invention;

FIG. 7 is a schematic front view of the stair cleaning robot body of the present invention;

FIG. 8 is a perspective view of the stair cleaning robot body of the present invention;

FIG. 9 is a schematic view of the upper left 45 ° orientation of the stair cleaning robot controller box and power supply box of the present invention;

FIG. 10 is a schematic perspective view of the stair cleaning robot controller box and power supply box of the present invention;

FIG. 11 is a rear schematic view of a stair cleaning robot controller box and power supply box of the present invention;

FIG. 12 is a schematic view of the stair cleaning robot motion support arm of the present invention;

fig. 13 is a schematic structural view of a cleaning water tank of the stair cleaning robot of the invention.

The stair cleaning device comprises a wheel-leg type movement mechanism 1, a stair cleaning arm 2, a machine body 3, a stair handrail cleaning arm 4, a movement supporting arm 5 and a cleaning water tank 6;

11. the leg driving device comprises a leg first driving motor, 12, a leg transverse rolling joint, 13, a leg first connecting frame, 14, a leg second connecting frame, 15, a leg second driving motor, 16, a leg first pitching joint, 17, a leg third connecting frame, 18, a leg first extension bar, 19, a leg fourth connecting frame, 110, a leg third driving motor, 111, a leg second pitching joint, 112, a leg fifth connecting frame, 113, a leg second extension bar, 114, a wheel leg connecting sleeve, 115, a fixing nut, 116, a leg fourth driving motor support, 117, a leg fourth driving motor, 118, a reduction gear, 119, an integrated wheel and 120, a gear shaft;

21. a stair cleaning robot mechanical arm, 22, a stair cleaning robot cleaner;

211. arm first drive motor, 212, arm first rotation joint, 213, arm first link, 214, arm second drive motor, 215, arm second link, 216, arm first pitch joint, 217, arm first extension bar, 218, arm fifth link, 219, arm sixth link, 2110, arm seventh link, 2111, arm fifth drive motor, 2112, arm second rotation joint, 2113, arm eighth link, 2114, arm second extension bar, 2115, arm fourth drive motor, 2116, arm second pitch joint, 2117, arm fourth link, 2118, arm third drive motor, 2119, arm third link, 2120, arm roll joint;

221. a cleaning head connecting frame, 222, a spherical mop head;

31. the camera comprises a first camera, a second camera, a third camera, an end cover, a controller box, a power box, a first camera, a second camera, a third camera, an end cover, a controller box and a second camera, wherein the end cover, the controller box and the power box are respectively arranged at the two ends of the first camera, the second camera, the third camera, the end cover, the controller box and the power box; 37 camera first driving motor, 38 camera second driving motor, 39 camera pitch joint;

310. the camera comprises a camera 311, a third camera bracket 312, a second camera bracket 313, a rotary camera joint 314 and a first camera bracket;

351. a wheel-leg type movement mechanism control signal line first outlet, 352 a controller box first heat dissipation window, 353 a movement support arm control signal line outlet, 354 a controller box second heat dissipation window, 355 a wheel-leg type movement mechanism control signal line second outlet, 356 a stair handrail cleaning arm controller, 357 a wheel-leg type movement mechanism and movement support arm controller, 358 a stair cleaning arm controller, 359 a stair cleaning arm control signal line outlet, 3510 a controller box third heat dissipation window, 3511 a stair handrail cleaning arm control signal line outlet;

361. stair cleaning arm power cord outlet 362, power supply box third heat dissipation window 363, stair handrail cleaning arm power cord outlet 364, stair handrail cleaning arm mounting platform 365, stair cleaning arm mounting platform 366, stair cleaning arm power supply 367, power supply box first heat dissipation window 368, wheel leg type movement mechanism and movement support arm power supply 369, movement support arm mounting platform,

3610. the power supply system comprises a power supply outlet of a moving support arm, 3611, a second heat dissipation window of a power supply box, 3612, a power supply of a stair handrail cleaning arm, 3613, a second outlet of a power supply wire of a wheel-leg type moving mechanism, 3614, a second mounting platform of the wheel-leg type moving mechanism, 3615, a first outlet of the power supply wire of the wheel-leg type moving mechanism, 3616 and a first mounting platform of the wheel-leg type moving mechanism;

51. the end effector connecting frame of the moving supporting arm comprises 52 an L-shaped moving supporting plate bulge and 53 an L-shaped moving supporting plate;

61. the cleaning water tank comprises a cleaning water tank sealing cover handle, 62, a cleaning water tank sealing cover, 63, a cleaning water tank handle, 64, a cleaning water tank body, 65, a stair handrail cleaning arm mop head self-cleaning tank spin-drying partition, 66, a stair handrail cleaning arm mop head self-cleaning tank, 67, a stair cleaning arm mop head first self-cleaning tank, 68, a stair cleaning arm mop head first self-cleaning tank spin-drying partition, 69, a tank cover clamping groove, 610, a stair cleaning arm mop head second self-cleaning tank spin-drying partition, 611, and a stair cleaning arm mop head second self-cleaning tank.

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope covered by the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

The structure of the stair cleaning robot is shown in figure 1, and comprises two wheel-leg type moving mechanisms 1, a stair cleaning arm 2, a machine body 3, a stair handrail cleaning arm 4, a moving supporting arm 5 and a cleaning water tank. Wherein, the two wheel-leg type motion mechanisms 1 are positioned below the machine body 3; the stair cleaning arm 2 and the stair handrail cleaning arm 4 have the same structure and are positioned on the same side of the machine body 3, but the spherical mop head 222 of the stair cleaning arm 2 is larger than that of the stair handrail cleaning arm 4; the arm structure of the stair cleaning robot arm 21 of the moving support arm 5 is the same as that of the stair cleaning arm 2 and the stair handrail cleaning arm 4, but the end effector structure is different; the motion support arm 5 is located on the side of the machine body 3 opposite the stair cleaning arm 2 and the stair railing cleaning arm 4.

The structure of the wheel-leg type moving mechanism is shown in fig. 3, and includes a leg first driving motor 11, a leg roll joint 12, a leg first connecting frame 13, a leg second connecting frame 14, a leg second driving motor 15, a leg first pitch joint 16, a leg third connecting frame 17, a leg first extension bar 18, a leg fourth connecting frame 19, a leg third driving motor 110, a leg second pitch joint 111, a leg fifth connecting frame 112, a leg second extension bar 113, a wheel-leg connecting sleeve 114, a fixing nut 115, a leg fourth driving motor support 116, a leg fourth driving motor 117, a reduction gear 118, an integrated wheel 119, and a gear shaft 120.

An output shaft of the first leg driving motor 11 is fixedly connected with the first leg connecting frame 13 to form a leg roll joint 12. The leg first connecting frame 13 and the leg second connecting frame 14 are fixedly connected, and the leg second driving motor 15 is fixed on the leg second connecting frame 14. An output shaft of the leg second driving motor 15 is fixedly connected with the leg third connecting frame 17 to form a leg first pitch joint 16.

The third leg connecting frame 17 is fixedly connected with one end of the first leg extension bar 18, the fourth leg connecting frame 19 is fixedly connected with the other end of the first leg extension bar 18, and the third leg driving motor 110 is fixed on the fourth leg connecting frame 19. An output shaft of the leg third driving motor 110 is fixedly connected to the leg fifth connecting frame 112 to form a leg second pitch joint 111.

The fifth leg connecting bracket 112 is fixedly connected to one end of the second leg extension bar 113, and the wheel-leg connecting sleeve 114 is fixedly connected to the other end of the second leg extension bar 113. A leg portion fourth drive motor bracket 116 is fixed to the wheel leg connecting sleeve 114, and a fixing nut 115 fixes the integrated wheel 119 to the wheel leg connecting sleeve 114. The reduction gear 118 is fixed to the integrated wheel 119, the leg portion fourth drive motor 117 is fixed to the fourth drive motor support 116, and the output gear shaft 120 of the leg portion fourth drive motor 117 is in meshing transmission with the reduction gear 118.

The stair cleaning arm 2 of the stair cleaning robot and the stair handrail cleaning arm 4 have the same structure and are collectively called cleaning arms. The cleaning arm structure is shown in fig. 4 and comprises a stair cleaning robot mechanical arm 21 and a stair cleaning robot cleaner 22.

The robot arm 21 of the stair cleaning robot is constructed as shown in fig. 5, and includes an arm first driving motor 211, an arm first rotating joint 212, an arm first connecting bracket 213, an arm second driving motor 214, an arm second connecting bracket 215, an arm first tilting joint 216, an arm first extension bar 217, an arm fifth connecting bracket 218, an arm sixth connecting bracket 219, an arm seventh connecting bracket 2110, an arm fifth driving motor 2111, an arm second rotating joint 2112, an arm eighth connecting bracket 2113, an arm second extension bar 2114, an arm fourth driving motor 2115, an arm second tilting joint 2116, an arm fourth connecting bracket 2117, an arm third driving motor 2118, an arm third connecting bracket 2119, and an arm roll joint 2120.

An output shaft of the first arm drive motor 211 is fixedly connected to the first arm link 213, and constitutes a first arm rotary joint 212. The arm second drive motor 214 is fixed to the arm first link 213, and an output shaft of the arm second drive motor 214 is fixedly connected to the arm second link 215, thereby constituting an arm roll joint.

The arm second link 215 is fixedly connected to the arm third link 2119, and the arm third drive motor 2118 is fixed to the arm third link 2119. An output shaft of the arm third driving motor 2118 is fixedly connected to the arm fourth connecting frame 2117, and forms an arm first pitch joint 216.

The arm fourth connecting frame 2117 is fixedly connected to one end of the arm first extension bar 217, the arm fifth connecting frame 218 is fixedly connected to the other end of the arm first extension bar 217, and the arm fourth driving motor 2115 is fixed to the arm fifth connecting frame 218. An output shaft of the arm fourth drive motor 2115 is fixedly connected to the arm sixth connecting frame 219, and constitutes an arm second pitch joint 2116.

The arm sixth connecting frame 219 is fixedly connected to one end of the arm second extension bar 2114, the arm seventh connecting frame 2110 is fixedly connected to the other end of the arm second extension bar 2114, and the arm fifth driving motor 2111 is fixed to the arm seventh connecting frame 2110. An output shaft of the arm fifth drive motor 2111 is fixedly connected to the arm eighth link 2113, and constitutes an arm second rotation joint 2112.

The stair cleaning robot cleaner 22 is constructed as shown in fig. 6, and includes a cleaning head attachment frame 221, a spherical mop head 222. The cleaning head connecting frame 221 is fixedly connected with an eighth connecting frame 2113 of the arm part of the stair cleaning robot mechanical arm 21. The spherical mop head 222 is secured to the cleaning head attachment frame 221.

The structure of the machine body 3 is shown in fig. 7 and 8, and includes a first camera 31, a second camera 32, a third camera 33, an end cover 34, a controller box 35, and a power supply box 36. The first camera 31, the second camera 32 and the third camera 33 have the same structure, and include a first camera driving motor 37, a second camera driving motor 38, a camera tilting joint 39, a camera 310, a third camera support 311, a second camera support 312, a camera rotating joint 313 and a first camera support 314. The first camera driving motor 37 is fixed on the third camera support 312, and an output shaft of the first camera driving motor 37 is fixedly connected with the second camera support 312 to form a camera rotating joint 313. The second camera driving motor 38 is fixed on the second camera support 312, and an output shaft of the second camera driving motor 38 is fixedly connected with the third camera support 311 to form a camera pitch joint 39. The first camera brackets 314 of the first camera 31 and the second camera 32 are respectively fixed at two sides of the power box 36, and the first camera bracket 314 of the third camera 33 is fixed at the center of the end cover 34. The end cap 34 is secured to the controller box 35 and the controller box 35 is secured to the power box 36.

The construction of the stair cleaning robot controller box 35 and the power supply box 36 is shown in fig. 9-11, and includes a first exit 351 of a control signal line of a wheel-leg type moving mechanism, a first heat radiation window 352 of the controller box, a control signal line exit 353 of a moving support arm, a second heat radiation window 354 of the controller box, a second exit 355 of a control signal line of a wheel-leg type moving mechanism, a control unit 356 of a stair railing cleaning arm, a control unit 357 of a wheel-leg type moving mechanism and moving support arm, a control unit 358 of a stair cleaning arm, a control signal line exit 359 of a stair cleaning arm, a third heat radiation window 3510 of the controller box, a control signal line exit 3511 of a stair railing cleaning arm, a power supply line exit 361 of a stair cleaning arm, a power supply line exit 363 of a stair railing cleaning arm, a mounting platform 364, a stair cleaning arm mounting platform 365, a stair cleaning arm power supply 366, a power supply box first heat dissipating window 367, a wheel-legged exercise mechanism and exercise support arm power supply 368, an exercise support arm mounting platform 369, an exercise support arm power cord outlet 3610, a power supply box second heat dissipating window 3611, a stair handrail cleaning arm power supply 3612, a wheel-legged exercise mechanism power cord second outlet 3613, a wheel-legged exercise mechanism second mounting platform 3614, a wheel-legged exercise mechanism power cord first outlet 3615, and a wheel-legged exercise mechanism first mounting platform 3616.

One side surface of the controller box 35 is provided with a controller box first heat dissipation window 352, a controller box second heat dissipation window 354 and a motion support arm control signal line outlet 353, wherein the controller box first heat dissipation window 352 and the controller box second heat dissipation window 354 are located on two sides of the motion support arm control signal line outlet 353. The other side of controller box 35 is provided with a controller box third louver 3510, a stair cleaning arm control signal line outlet 359, and a stair railing cleaning arm control signal line outlet 3511, wherein controller box third louver 3510 is located between stair cleaning arm control signal line outlet 359 and stair railing cleaning arm control signal line outlet 3511, opposite controller box first louver 352 and controller box second louver 354.

The controller box 35 is provided at a bottom surface thereof with a first outlet 351 for a wheel-leg type moving mechanism control signal line and a second outlet 355 for a wheel-leg type moving mechanism control signal line. Stair handrail cleaning arm controller 356, wheel-legged motion mechanism and motion support arm controller 357, and stair cleaning arm controller 358 lie in sequence within controller box 35.

The control signal line of the stair handrail cleaning arm controller 356 is output from the stair handrail cleaning arm control signal line outlet 3511. The control signal line for stair cleaning arm controller 358 is output from stair cleaning arm control signal line outlet 359. The control signal line of the motion support arm 5 in the wheel-legged motion mechanism and motion support arm controller 357 is output from the motion support arm control signal line outlet 353, and the control signal lines of the two wheel-legged motion mechanisms 1 are output from the wheel-legged motion mechanism power supply line first outlet 3615 and the wheel-legged motion mechanism power supply line second outlet 3613 via the wheel-legged motion mechanism control signal line first outlet 351 and the wheel-legged motion mechanism control signal line second outlet 355, respectively.

One side of the power box 36 is provided with a power box first heat dissipation window 367, a power box second heat dissipation window 3611 and a motion support arm power line outlet 3610, wherein the power box first heat dissipation window 367 and the power box second heat dissipation window 3611 are located at two sides of the motion support arm power line outlet 3610. And the other side surface of the power box is provided with a power box third heat dissipation window 362, a stair cleaning arm power line outlet 361 and a stair handrail cleaning arm power line outlet 363, wherein the power box third heat dissipation window 362 is positioned between the stair cleaning arm power line outlet 361 and the stair handrail cleaning arm power line outlet 363 and is opposite to the power box first heat dissipation window 367 and the power box second heat dissipation window 3611.

The bottom surface of the power box 36 is provided with a first outlet 3615 of a power line of the wheel-leg type movement mechanism and a second outlet 3613 of the power line of the wheel-leg type movement mechanism. The stair arm cleaning arm power supply 3612, the wheel-legged motion mechanism and motion support arm power supply 368, and the stair cleaning arm power supply 366 lie flat in sequence within the power supply box 36.

The stair cleaning arm power supply 366 outputs from the stair cleaning arm power cord outlet 361. The power cord of stair handrail cleaning arm power supply 3612 is output from stair handrail cleaning arm power cord outlet 363. In the power supply 368 for the wheel-leg type moving mechanism and the moving support arm, the power cord of the moving support arm 5 is output from the power cord outlet 3610 of the moving support arm, and the power cords of the two wheel-leg type moving mechanisms 1 are output from the power cord first outlet 3615 of the wheel-leg type moving mechanism and the power cord second outlet 3613 of the wheel-leg type moving mechanism respectively.

The motion support arm mounting platform 369 is positioned just below the motion support arm power cord outlet 3610 on the exterior side of the power supply box 36. The moving support arm 5 is secured to the moving support arm mounting platform 369 by a flange of the arm first drive motor 211. The stair cleaning arm mounting platform 365 and the stair handrail cleaning arm mounting platform 364 are located directly below the stair cleaning arm power cord outlet 361 and the stair handrail cleaning arm power cord outlet 363, respectively, on the exterior side of the power box 36.

The stair cleaning arm 2 and the stair railing cleaning arm 4 are fixed to the stair cleaning arm mounting platform 365 and the stair railing cleaning arm mounting platform 364, respectively, by flanges of the respective arm first drive motors 211.

The first mounting platform 3616 of the wheel-leg type motion mechanism and the second mounting platform 3614 of the wheel-leg type motion mechanism are respectively positioned at the rear of the first outlet 3615 of the power line of the wheel-leg type motion mechanism and the second outlet 3613 of the power line of the wheel-leg type motion mechanism at the outer side of the bottom surface of the power box 36. The two wheel-leg type moving mechanisms 1 are respectively installed on a wheel-leg type moving mechanism first installation platform 3616 and a wheel-leg type moving mechanism second installation platform 3614.

The structure of the stair cleaning robot motion supporting arm 5 is shown in fig. 12, and comprises a stair cleaning robot mechanical arm 21, a motion supporting arm end effector connecting frame 51, an L-shaped motion supporting plate projection 52 and an L-shaped motion supporting plate 53. The motion support arm end effector link 51 is fixedly connected with an eighth link 2113 of the arm portion of the stair cleaning robot mechanical arm 21. The motion support arm end effector attachment frame 51 is fixed to the outside of the bottom plate of the L-shaped motion support plate 53.

The structure of the stair cleaning robot cleaning water tank 6 is shown in fig. 13, and comprises a cleaning water tank sealing cover handle 61, a cleaning water tank sealing cover 62, two cleaning water tank handles 63, a cleaning water tank body 64, a stair handrail cleaning arm mop head self-cleaning tank spin-drying partition 65, a stair handrail cleaning arm mop head self-cleaning tank 66, a stair cleaning arm mop head first self-cleaning tank 67, a stair cleaning arm mop head first self-cleaning tank spin-drying partition 68, a tank cover clamping groove 69, a stair cleaning arm mop head second self-cleaning tank spin-drying partition 610 and a stair cleaning arm mop head second self-cleaning tank 611.

One end of the cleaning water tank sealing cover 62 is provided with a cleaning water tank sealing cover handle 61, which is convenient for opening and closing the cleaning water tank 6. The clean water tank sealing cover 62 is embedded into a groove on the side surface of the clean water tank body 64, and the clean water tank sealing cover handle 61 is pushed and pulled to open and close the clean water tank 62. Two cleaning water tank handles 63 are arranged on the outer side of the cleaning water tank body 64, so that the cleaning water tank 6 can be lifted and placed conveniently.

The cleaning water tank body 64 is divided into three separate spaces, a stair cleaning arm mop head second self-cleaning tank 611, a stair cleaning arm mop head first self-cleaning tank 67 and a stair handrail cleaning arm mop head self-cleaning tank 66. A spin-drying partition 610 of the second self-cleaning box of the stair cleaning arm mop head is arranged in the second self-cleaning box 611 of the stair cleaning arm mop head and is used for spin-drying the spherical mop head 222 which is dipped after secondary self-cleaning. A first self-cleaning box spin-drying partition 68 of the stair cleaning arm mop head is arranged in the first self-cleaning box 67 of the stair cleaning arm mop head and is used for spin-drying the first self-cleaning box of the stair cleaning arm mop head, and a spin-drying partition 65 of the stair cleaning arm mop head self-cleaning box of the stair cleaning arm mop head is arranged in the self-cleaning box 66 of the stair cleaning arm mop head and is used for spin-drying the first self-cleaning box of the stair cleaning arm mop head 222.

The stair cleaning robot provided by the invention can realize comprehensive and autonomous cleaning of stair treads, stair vertical surfaces, stair connecting platforms and stair handrails, and the cleaning operation process comprises the following steps:

in the first step, according to the environmental information and the operation requirement fed back by the third camera 33, the level road movement gait, the stair climbing gait and the stair descending gait of the wheel-leg type movement mechanism 1 of the stair cleaning robot are called in due time, so that the robot reaches a cleaning operation site, and the stair cleaning robot completes cleaning operation from the top layer to the bottom layer.

And secondly, when the stair cleaning robot carries out step cleaning operation, according to the environmental information fed back by the third camera 33, two wheel-leg type moving mechanisms 1 are positioned on different stair steps, then the leg second driving motor 15 and the leg third driving motor 110 act, the stair cleaning robot squats downwards, the gravity center position of the machine body 3 is lowered, the leg fourth driving motor 117 is locked, the moving supporting arm 5 swings downwards, the tail end L-shaped moving supporting plate 53 is in contact with the nearest stair step, and the stability of the stair cleaning robot is improved.

Thirdly, the stair cleaning arm 2 of the stair cleaning robot swings downwards to contact with the stair tread, the spherical mop head 222 with moderate humidity at the tail end of the stair cleaning arm 2 is contacted with the operation platform according to the environment information fed back by the first camera 31, the fifth driving motor 2111 of the arm part slowly rotates while the terminal of the stair cleaning arm performs Z-shaped motion, and the cleaning operation of the stair tread and the stair vertical surface is realized; meanwhile, the stair handrail cleaning arm 4 of the stair cleaning robot swings downwards to contact with the stair handrail, according to the environment information fed back by the second camera 32, the spherical mop head 222 with moderate humidity at the tail end of the stair handrail cleaning arm 4 contacts with the stair handrail, the fifth driving motor 2111 of the arm slowly rotates while performing Z-shaped motion, the stair handrail cleaning operation is achieved, then the stair handrail cleaning arm 4 moves downwards, the spherical mop head 222 with moderate humidity at the tail end of the stair handrail contacts with the stair guardrail, and the guardrail is cleaned from top to bottom according to the guardrail shape information fed back by the second camera 32.

Fourthly, when the stair cleaning arm 2 of the stair cleaning robot performs cleaning operation on a stair connection platform, according to the environmental information fed back by the first camera 31, the two wheel-leg type movement mechanisms 1 drive the cleaning robot to move to an operation point, then the leg second driving motor 15 and the leg third driving motor 110 act, the stair cleaning robot squats downwards, the gravity center position of the machine body 3 is lowered, the leg fourth driving motor 117 is locked, the movement supporting arm 5 swings downwards at the same time, the tail end L-shaped movement supporting plate 53 is in contact with the cleaning operation platform, the stability of the stair cleaning robot is improved, the stair cleaning arm 2 swings downwards and is in contact with the operation platform, the arm fifth driving motor 2111 rotates slowly while performing Z-shaped movement, and the cleaning operation on the ground is completed; meanwhile, the stair handrail cleaning arm 4 of the stair cleaning robot swings downwards to contact with the stair handrail, according to the environmental information fed back by the second camera 32, the spherical mop head 222 with moderate humidity at the tail end of the stair handrail cleaning arm 4 contacts with the stair handrail, the fifth driving motor 2111 of the arm slowly rotates while performing Z-shaped movement, the stair handrail cleaning operation is achieved, then the stair handrail cleaning arm 4 moves downwards, the spherical mop head 222 with moderate humidity at the tail end of the stair handrail cleaning arm contacts with the stair handrail, according to the guardrail shape information fed back by the second camera 32, the guardrail is cleaned from top to bottom, after the guardrail cleaning task is completed, the stair handrail cleaning arm 4 moves upwards, and the spherical mop head 222 at the tail end of the stair handrail cleaning arm 4 is separated from the stair handrail.

And fifthly, after the cleaning operation of the reachable range of the stair cleaning arm 2 is completed, the leg second driving motor 15 and the leg third driving motor 110 of the two wheel-leg type movement mechanisms 1 act, the stair cleaning robot moves to a new operation point of the stair connection platform in a posture recovery movement, and the previous operation is repeated until the cleaning operation of the stair connection platform is completely completed.

The self-cleaning operation of the spherical mop head 222 of the stair cleaning robot requires that a cleaning water tank is manually placed on a stair connecting platform, and the sewage in the water tank is periodically replaced. The self-cleaning process of the spherical mop head 222 comprises the following steps:

firstly, an L-shaped moving support plate bulge 52 at the tail end of a moving support arm 5 pushes a sealing cover handle 61 of the cleaning water tank to open the cleaning water tank 6;

secondly, the spherical mop 222 of the stair cleaning arm 2 enters the first stair cleaning arm mop first self-cleaning box 67, the fifth drive motor 2111 of the arm drives the spherical mop 222 to rotate in the forward and reverse directions alternately for 10 circles, so that the primary cleaning of the spherical mop 222 of the stair cleaning arm 2 is completed, the cleaned spherical mop 222 enters the first stair cleaning arm mop first self-cleaning box spin-drying partition 68, and the fifth drive motor 2111 of the arm drives the spherical mop 222 to rotate in a fast and unidirectional manner for 20 circles, so that the spin-drying of the spherical mop 222 of the stair cleaning arm 2 is completed. Meanwhile, the spherical mop head 222 of the stair handrail cleaning arm 4 enters the stair handrail cleaning arm mop self-cleaning box 66, the fifth driving motor 2111 of the arm drives the spherical mop head 222 to rotate forward and backward for 10 circles alternately, so that the cleaning of the spherical mop head 222 of the stair handrail cleaning arm 4 is completed, the cleaned spherical mop head 222 enters the stair handrail cleaning arm mop self-cleaning box spin-drying partition 65, and the fifth driving motor 2111 of the arm drives the spherical mop head 222 to rotate rapidly and unidirectionally for 20 circles, so that the spin-drying of the spherical mop head 222 of the stair handrail cleaning arm 4 is completed;

and thirdly, judging whether the spherical mop head 222 of the stair cleaning arm 2 needs to be subjected to secondary self-cleaning or not according to the cleanliness of the stair tread fed back by the first camera 31. If the tread cleanliness is high, secondary self-cleaning is not needed, and the step is omitted; if the tread cleanliness is low, secondary self-cleaning is needed. During secondary self-cleaning, the spherical mop head 222 of the stair cleaning arm 2 enters the second self-cleaning box 611 of the stair cleaning arm mop head, the fifth driving motor 2111 of the arm drives the spherical mop head 222 to rotate forward and backward for 10 circles alternately, so that secondary cleaning of the spherical mop head 222 of the stair cleaning arm 2 is completed, the cleaned spherical mop head 222 enters the spin-drying partition 610 of the second self-cleaning box of the stair cleaning arm mop head, and the fifth driving motor 2111 of the arm drives the spherical mop head 222 to rotate rapidly and unidirectionally for 20 circles, so that spin-drying of the spherical mop head 222 of the stair cleaning arm 2 is completed.

In the fourth step, the L-shaped moving support plate projection 52 at the end of the moving support arm 5 pushes the sealing cover handle 61 of the clean water tank to close the clean water tank 6.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

1. The utility model provides a be used for clear robot of stair step and guardrail, characterized by, includes the organism, install a camera on side and the top surface about the organism respectively, fixed mounting has the motion support arm on the leading flank of organism, and fixed mounting has clean arm of stair and the clean arm of stair railing respectively on the trailing flank of organism, and wheel leg formula motion is installed to the bottom of organism, is provided with power and the controller that links to each other with motion support arm, the clean arm of stair railing and wheel leg formula motion respectively in the organism.

2. The robot for cleaning stairs and guardrails according to claim 1, wherein said two wheel-leg type moving mechanisms comprise a plurality of driving motors, connecting frames and extension bars, wherein an output shaft of a first leg driving motor is fixedly connected with a first leg connecting frame to form a leg rolling joint;

the first leg connecting frame is fixedly connected with the second leg connecting frame, and the second leg driving motor is fixed on the second leg connecting frame;

an output shaft of the second leg driving motor is fixedly connected with the third leg connecting frame to form a first leg pitching joint;

the leg third connecting frame is fixedly connected with one end of the leg first extension bar, the leg fourth connecting frame is fixedly connected with the other end of the leg first extension bar, and the leg third driving motor is fixed on the leg fourth connecting frame;

an output shaft of the leg third driving motor is fixedly connected with the leg fifth connecting frame to form a leg second pitching joint;

the fifth connecting frame of the leg part is fixedly connected with one end of the second extension bar of the leg part, and the wheel leg connecting sleeve is fixedly connected with the other end of the second extension bar of the leg part;

the leg part fourth driving motor support is fixed on the wheel leg connecting sleeve, and the integrated wheel is fixed with the wheel leg connecting sleeve through the fixing nut; the reduction gear is fixed on the integrated wheel, the leg fourth driving motor is fixed on the fourth driving motor support, and an output gear shaft of the leg fourth driving motor is in meshing transmission with the reduction gear.

3. A robot for cleaning stair steps and guard rails as claimed in claim 1, wherein said stair cleaning arms and stair railing cleaning arms are identical in structure and collectively referred to as cleaning arms; the cleaning arm comprises an arm structure and an end effector connected with the arm structure, the arm structure comprises a plurality of driving motors, a connecting frame and an extension bar, and an output shaft of a first driving motor of the arm is fixedly connected with the first connecting frame of the arm to form a first rotary joint of the arm;

the second arm driving motor is fixed on the first arm connecting frame, and an output shaft of the second arm driving motor is fixedly connected with the second arm connecting frame to form an arm roll joint;

the second arm connecting frame is fixedly connected with a third arm connecting frame, and a third arm driving motor is fixed on the third arm connecting frame;

an output shaft of the third arm driving motor is fixedly connected with the fourth arm connecting frame to form a first arm pitching joint;

the arm fourth connecting frame is fixedly connected with one end of the arm first lengthening rod, the arm fifth connecting frame is fixedly connected with the other end of the arm first lengthening rod, and the arm fourth driving motor is fixed on the arm fifth connecting frame;

an output shaft of the fourth arm driving motor is fixedly connected with the sixth arm connecting frame to form a second arm pitching joint;

the sixth connecting frame of the arm is fixedly connected with one end of the second lengthening rod of the arm, the seventh connecting frame of the arm is fixedly connected with the other end of the second lengthening rod of the arm, and the fifth driving motor of the arm is fixed on the seventh connecting frame of the arm;

an output shaft of the fifth driving motor of the arm part is fixedly connected with the eighth connecting frame of the arm part to form a second rotary joint of the arm part;

the end effector is fixedly connected to the eighth connecting frame of the arm part.

4. A robot for cleaning stairs and guardrails according to claim 3, wherein said end effector comprises a cleaning head link secured to the eighth link of the arm of the cleaning arm and a spherical mop head secured to the cleaning head link.

5. A robot for stair step and guardrail cleaning as claimed in claim 4, wherein the stair cleaning arm has a larger size of the spherical mop head than the stair handrail cleaning arm.

6. A robot for stair step and balustrade cleaning according to claim 3, wherein the arm structure of the moving support arm is the same as the arm structure of the stair cleaning arm and stair railing cleaning arm, but the end effector structure is different.

7. The robot for cleaning stairs and guardrails according to claim 6, wherein the end effector of the moving support arm comprises an end effector connecting frame and an L-shaped moving support plate, and the end effector connecting frame is fixedly connected with an eighth connecting frame of the arm part of the moving support arm and a bottom plate of the L-shaped moving support plate respectively.

8. The robot for cleaning stairs and guardrails according to claim 1, wherein the machine body comprises a controller box and a power box which are fixedly connected up and down, a power supply connected with the motion supporting arm, the stair cleaning arm, the stair handrail cleaning arm and the wheel-leg type motion mechanism is respectively arranged in the power box, and a power supply outlet, a heat radiation window, a stair handrail cleaning arm mounting platform, a stair cleaning arm mounting platform and a motion supporting arm mounting platform are respectively and correspondingly arranged on the wall and the bottom of the power box;

controllers connected with the motion supporting arm, the stair cleaning arm device, the stair handrail cleaning arm and the wheel leg type motion mechanism are respectively arranged in the controller box, and a signal wire outlet and a heat dissipation window of the controller are respectively and correspondingly arranged on the wall and the bottom of the controller.

9. The robot for cleaning stairs and guardrails according to claim 1, wherein the robot further comprises a cleaning water tank, the water tank comprises a box body, the upper part of the box body is provided with a transverse drawing type sealing cover, the side surface of the box body is provided with a handle, the interior of the box body is divided into three independent cavities through two longitudinal plates, each cavity is internally provided with a partition for drying the spherical mop head, and the partition is provided with a through hole.

10. A method of cleaning a stair step and guardrail cleaning robot as claimed in any one of claims 1-9, comprising the steps of:

step one, according to the environmental information and the operation requirement fed back by the camera, the level road movement gait, the stair ascending gait and the stair descending gait of the wheel-leg type movement mechanism of the stair cleaning robot are called in due time, so that the stair cleaning robot reaches a cleaning operation field, and the stair cleaning robot finishes the cleaning operation according to the sequence from the top layer to the bottom layer;

secondly, when the stair cleaning robot carries out step cleaning operation, two wheel-leg type movement mechanisms are positioned on different stair steps according to environment information fed back by a camera, then a leg second driving motor and a leg third driving motor act, the stair cleaning robot squats, the gravity center position of a machine body is lowered, a leg fourth driving motor is locked, meanwhile, a movement supporting arm swings downwards, and a tail end L-shaped movement supporting plate is in contact with the nearest stair steps, so that the stability of the stair cleaning robot is improved;

thirdly, a stair cleaning arm of the stair cleaning robot swings downwards to be in contact with a stair tread, a spherical mop head at the tail end of the stair cleaning arm is in contact with the operation platform according to the environment information fed back by the camera, and the fifth driving motor of the arm part slowly rotates while the spherical mop head makes Z-shaped motion, so that the cleaning operation of the stair tread and a stair vertical surface is realized;

meanwhile, a stair handrail cleaning arm of the stair cleaning robot swings downwards to be in contact with a stair handrail, according to environmental information fed back by a camera, a spherical mop head with moderate terminal humidity of the stair handrail cleaning arm is in contact with the stair handrail to perform Z-shaped motion, meanwhile, a fifth driving motor of the arm slowly rotates to realize stair handrail cleaning operation, then, the stair handrail cleaning arm moves downwards, the spherical mop head with moderate terminal humidity is in contact with a stair guardrail, and according to guardrail shape information fed back by the camera, the guardrail is cleaned from top to bottom;

fourthly, when the stair cleaning arm of the stair cleaning robot performs stair connection platform cleaning operation, according to environmental information fed back by the camera, the two wheel-leg type movement mechanisms drive the cleaning robot to move to an operation point, then the leg second driving motor and the leg third driving motor act, the stair cleaning robot squats down, the gravity center position of the machine body is lowered, the leg fourth driving motor is locked, the movement supporting arm swings downwards, the tail end L-shaped movement supporting plate of the leg fourth driving motor is in contact with the cleaning operation platform, the stability of the stair cleaning robot is improved, the stair cleaning arm swings downwards and is in contact with the operation platform, the arm fifth driving motor rotates slowly while performing Z-shaped movement, and the ground cleaning operation is completed;

meanwhile, a stair handrail cleaning arm of the stair cleaning robot swings downwards to be in contact with a stair handrail, a spherical mop head with moderate humidity at the tail end of the stair handrail cleaning arm is in contact with the stair handrail according to environmental information fed back by a camera, and the fifth driving motor of the arm slowly rotates while performing Z-shaped motion, so that the stair handrail cleaning operation is realized;

then, the stair handrail cleaning arm moves downwards, the spherical mop head at the tail end of the stair handrail cleaning arm is in contact with a stair guardrail, the guardrail is cleaned from top to bottom according to guardrail shape information fed back by the camera, the stair handrail cleaning arm moves upwards after the guardrail cleaning task is completed, and the spherical mop head at the tail end of the stair handrail cleaning arm is separated from the stair handrail;

and fifthly, after the cleaning operation of the reachable range of the stair cleaning arm is completed, the leg second driving motor and the leg third driving motor of the two wheel-leg type movement mechanisms act, the stair cleaning robot moves to a new operation point of the stair connection platform in a posture recovery movement, and the previous operation is repeated until the cleaning operation of the stair connection platform is completely completed.

Images