CN114376449B

CN114376449B - Robot for cleaning stair steps and guardrails and cleaning method thereof

Info

Publication number: CN114376449B
Application number: CN202210153988.XA
Authority: CN
Inventors: 王海燕; 陈聪聪; 李光胜; 周璇; 邱楷钧
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2022-02-20
Filing date: 2022-02-20
Publication date: 2023-04-21
Anticipated expiration: 2042-02-20
Also published as: CN114376449A

Abstract

The invention discloses a robot for cleaning stair steps and guardrails, which comprises a machine body, wherein a camera is respectively arranged on the left side surface, the right side surface and the top surface of the machine body, a movable 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 fixedly arranged on the rear side surface of the machine body, a wheel leg type movement mechanism is arranged at the bottom of the machine body, and a power supply and a controller which are respectively connected with the movable supporting arm, the stair cleaning arm, the stair handrail cleaning arm and the wheel leg type movement mechanism are arranged in the machine body. Meanwhile, a cleaning method of the robot is also disclosed. During cleaning, the cleaning operation is completed in the sequence from the top layer to the bottom layer. According to the environment 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 timely called, so that the robot reaches a cleaning operation site, the stair cleaning arm realizes the cleaning operation of the stair tread and the stair vertical surface, and the stair handrail cleaning arm realizes the cleaning tasks of 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 for cleaning stair steps and guardrails and a cleaning method thereof.

Background

Chinese patent application 201410146501.0 discloses a translational rotary leg stair cleaning robot and a method for going upstairs and downstairs. The stair cleaning robot can clean stair tread surfaces back and forth, and also has the function of cleaning the flat ground. However, the barrier 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: the cleaning surface of the ladder is determined firstly, then a cleaning route suitable for the cleaning surface is planned according to the cleaning surface, and the robot is ensured to perform cleaning work normally and orderly. This patent application is not concerned with the cleaning of stair handrails.

Chinese patent application 201810976563.2 discloses a stair cleaning robot. According to the stair cleaning robot, the wheel rod is in threaded connection with the wheel hub, and the diameter of the wheel hub is adjusted when the wheel rod is rotated, so that the wheel hub can travel on steps with different heights, and the application range of the cleaning robot is enlarged. However, this patent application is not directed to a guardrail cleaning function.

Chinese patent application 201910014709.X discloses an intelligent stair cleaning robot. The stair cleaning robot can meet the automatic cleaning operation of various step structures with different structural types on one hand, so that the automation degree of stair cleaning operation is effectively improved, steps can be effectively cleaned on the other hand, dust is reduced, meanwhile, the wet sliding degree of the step surface is reduced, and accidents such as sliding and the like are avoided. However, this patent application is not directed to guardrail cleaning operations.

Chinese patent application 202011210547.6 discloses a stair cleaning robot. The cleaning motor and the screw motor of the stair cleaning robot are started, the pinion rotates around the fixed gear while revolving around the fixed gear, and the pinion rotates around the axis of the pinion, so that the cleaning head is driven to do the same motion as the pinion, and meanwhile, under the action of the cleaning motor and the screw, the cleaning head also has a linear motion process, and the two motions are combined together, so that the stair cleaning is realized. This patent application is not directed to guardrail cleaning operations.

Chinese patent 201620318330.X discloses an escalator cleaning robot. The stair cleaning robot can automatically climb stairs and can clean stair steps. However, the invention patent is not directed to guardrail cleaning operations.

Stair cleaning comprises cleaning of a step tread, a step vertical plane and a guardrail, and the cleaning of the guardrail is not related to the patent.

Disclosure of Invention

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

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

a robot for cleaning stair steps and guardrails comprises a machine body, wherein a camera is respectively arranged on the left side surface, the right side surface and the top surface of the machine body, a moving support 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 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 support arm, the stair cleaning arm, the stair handrail cleaning arm and the wheel leg type moving mechanism are arranged in the machine body.

The two wheel leg type movement mechanisms comprise a plurality of driving motors, a connecting frame and an extension bar, wherein the output shafts of the first leg driving motors are fixedly connected with the first leg connecting frame to form leg rolling joints;

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

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

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

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

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

the leg fourth driving motor bracket is fixed on the wheel leg connecting sleeve, and the fixing nut fixes the integrated wheel and the wheel leg connecting sleeve; the reduction gear is fixed on the integrated wheel, the leg fourth driving motor is fixed on the fourth driving motor bracket, and an output gear shaft of the leg fourth driving motor is meshed with the reduction gear for transmission.

The stair cleaning arm and the stair railing cleaning arm have the same structure and are collectively called as the cleaning arm.

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 arm driving motor is fixedly connected with the first arm connecting frame to form a first arm rotary joint;

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

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

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

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

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

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

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

the end effector is fixedly connected to the arm eighth link.

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

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

The arm structure of the kinematic support arm is identical to the arm structures of the stair cleaning arm and the stair railing cleaning arm, but the end effector structure is different.

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

The machine body comprises a controller box and a power box which are fixedly connected up and down, wherein a power supply connected with a moving support arm, a stair cleaning arm, a stair railing cleaning arm and a wheel leg type moving mechanism is respectively arranged in the power box, and a power line outlet, a radiating window, a stair railing cleaning arm mounting platform, a stair cleaning arm mounting platform and a moving support arm mounting platform are respectively correspondingly arranged on the wall and the bottom of the power box.

The controller box is internally provided with a controller connected with the moving support arm, the stair cleaning arm device, the stair railing cleaning arm and the wheel leg type moving mechanism respectively, and the wall and the bottom of the controller are correspondingly provided with a signal line outlet and a radiating window of the controller respectively.

The robot still includes clean water tank, the water tank includes the box, and box upper portion is provided with horizontal pull formula sealed lid, 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:

firstly, according to environmental information and operation requirements fed back by a camera, timely calling a flat road movement gait of a wheel leg type movement mechanism of the stair cleaning robot, going up the stair gait, going down the stair gait, enabling the robot to reach a cleaning operation site, and enabling the stair cleaning robot to finish cleaning operation according to the sequence from the top layer to the bottom layer;

secondly, when the stair cleaning robot performs stair cleaning operation, according to the environmental information fed back by the camera, the two wheel leg type movement mechanisms are positioned on different stair steps, then the second leg type driving motor and the third leg type driving motor act, the stair cleaning robot squats down, the gravity center position of the machine body is lowered, the fourth leg type driving motor locks, meanwhile, the movement support arm swings downwards, and the L-shaped movement support plate at the tail end of the movement support arm is contacted with the nearest stair steps, so that the stability of the stair cleaning robot is improved;

Step three, a stair cleaning arm of the stair cleaning robot swings downwards to contact with a stair tread, a spherical mop head at the tail end of the stair cleaning arm contacts with a working platform according to environmental information fed back by a camera, and a fifth driving motor of the arm slowly rotates while performing Z-shaped movement, so that the cleaning operation of the stair tread and a stair vertical surface is realized;

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

step four, when the stair cleaning arm of the stair cleaning robot carries out stair connection platform cleaning operation, according to the 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 L-shaped movement supporting plate at the tail end of the stair cleaning arm is contacted with the cleaning operation platform, the stability of the stair cleaning robot is improved, the stair cleaning arm swings downwards and is contacted with the operation platform, the arm fifth driving motor slowly rotates while doing Z-shaped movement, and the wiping operation of the ground is completed;

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

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

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 resumes the movement, moves to a new operation point of the stair connecting platform, and repeats the previous operation until the cleaning operation of the stair connecting platform is 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 functions, and can realize the integrated cleaning of the stair tread, the stair vertical surface, the stair connecting platform and the stair railing;

2) The cleaning mode adopted by the stair cleaning robot is different from that of the existing cleaning robot, and dust and noise are avoided due to the fact that the wet mop head is wiped;

3) The stair cleaning robot provided by the invention can automatically finish cleaning and dewatering 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 dual advantages of wheel foot type and wheel type movement, is provided with the movement support arm, and overcomes the defect of poor standing state stability of the leg foot type robot. The robot has the obstacle crossing capability of the legged robot, and simultaneously 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 a wheel leg type movement 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 manipulator 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 schematic perspective view of a stair cleaning robot body of the present invention;

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

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

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

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

fig. 13 is a schematic view of a cleaning water tank of the stair cleaning robot according to the present invention.

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

11. leg first drive motor, 12, leg roll joint, 13, leg first link, 14, leg second link, 15, leg second drive motor, 16, leg first pitch joint, 17, leg third link, 18, leg first extension, 19, leg fourth link, 110, leg third drive motor, 111, leg second pitch joint, 112, leg fifth link, 113, leg second extension, 114, wheel leg connecting sleeve, 115, fixing nut, 116, leg fourth drive motor bracket, 117, leg fourth drive motor, 118, reduction gear, 119, integrated wheel, 120, gear shaft;

21. A stair cleaning robot manipulator 22;

211. arm first drive motor 212, arm first rotary 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 rotary 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 attachment 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 and a power supply box, wherein the first camera, the second camera, the third camera, the end cover, the controller box and the power supply box are arranged in sequence, and the controller box is arranged in sequence; 37, a first driving motor of the camera, 38, a second driving motor of the camera, 39, a pitching joint of the camera;

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

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

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

3610. the power supply comprises a power line outlet of a movable supporting arm, a power box, a second heat dissipation window, a power box, a stair railing cleaning arm power supply, a power line second outlet, a wheel leg type movement mechanism second mounting platform, a wheel leg type movement mechanism first outlet, a wheel leg type movement mechanism power line first outlet, a wheel leg type movement mechanism first mounting platform, a wheel leg type movement mechanism and a stair railing cleaning arm power supply, wherein the power box is characterized in that the power box is provided with a power box;

51. The end effector connecting frame of the movable supporting arm, 52. The L-shaped movable supporting plate is raised, 53. The L-shaped movable supporting plate;

61. the novel self-cleaning device comprises a cleaning water tank sealing cover handle, a cleaning water tank sealing cover, a cleaning water tank handle, a cleaning water tank body, a cleaning water tank 65, a stair railing cleaning arm mop head self-cleaning box spin-drying partition, a stair railing cleaning arm mop head self-cleaning box, a stair cleaning arm mop head first self-cleaning box spin-drying partition, a box cover clamping groove, a stair cleaning arm mop head second self-cleaning box spin-drying partition, a stair cleaning arm mop head second self-cleaning box and a stair cleaning arm mop head second self-cleaning box.

Detailed Description

The invention will be further described with reference to the drawings and examples.

The structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the present disclosure, and therefore should not be construed as limiting the invention, but rather as limiting the scope of the invention, so that any structural modifications, proportional changes, or dimensional adjustments should fall within the scope of the invention without affecting the efficacy or achievement thereof. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.

The stair cleaning robot has a structure shown in fig. 1, and comprises two wheel leg type movement mechanisms 1, a stair cleaning arm 2, a machine body 3, a stair railing cleaning arm 4, a movement supporting arm 5 and a cleaning water tank. Wherein, the two wheel leg type movement mechanisms 1 are positioned below the machine body 3; the structure of the stair cleaning arm 2 and the stair railing cleaning arm 4 is the same, and the stair cleaning arm 2 and the stair railing cleaning arm 4 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 the stair railing cleaning arm 4; the arm structure of the stair cleaning robot arm 21 of the moving support arm 5 is the same as the arm structures of the stair cleaning arm 2 and the stair railing cleaning arm 4, but the end effector structure is different; the movable support arm 5 is located on the side of the body 3 opposite the stair cleaning arm 2 and the stair railing cleaning arm 4.

The wheel leg type movement mechanism is structured as 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 bracket 116, a leg fourth driving motor 117, a reduction gear 118, an integrated wheel 119, and a gear shaft 120.

The output shaft of the leg first driving motor 11 is fixedly connected with the leg first 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. The output shaft of the leg second driving motor 15 is fixedly connected with a leg third connecting frame 17 to form a leg first pitching joint 16.

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

The fifth leg connecting frame 112 is fixedly connected with one end of the second leg extension bar 113, and the wheel leg connecting sleeve 114 is fixedly connected with the other end of the second leg extension bar 113. The leg fourth driving motor bracket 116 is fixed to the leg connecting sleeve 114, and the fixing nut 115 fixes the integrated wheel 119 to the leg connecting sleeve 114. The reduction gear 118 is fixed on an integrated wheel 119, the leg fourth driving motor 117 is fixed on the fourth driving motor bracket 116, and the output gear shaft 120 of the leg fourth driving motor 117 is meshed with the reduction gear 118 for transmission.

The stair cleaning robot stair cleaning arm 2 and the stair railing cleaning arm 4 have the same structure and are collectively called as cleaning arms. The cleaning arm structure is shown in fig. 4, and includes a stair cleaning robot arm 21 and a stair cleaning robot cleaner 22.

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

An output shaft of the arm first driving motor 211 is fixedly connected with an arm first connecting frame 213 to constitute an arm first rotary joint 212. The arm second driving motor 214 is fixed on the arm first connecting frame 213, and an output shaft of the arm second driving motor 214 is fixedly connected with the arm second connecting frame 215 to form 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 constitutes an arm first pitch joint 216.

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

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

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

The body 3 has a structure as 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 comprise a first camera driving motor 37, a second camera driving motor 38, a camera pitching joint 39, a camera 310, a third camera bracket 311, a second camera bracket 312, a rotary camera joint 313 and a first camera bracket 314. The first driving motor 37 of the camera is fixed on the third bracket 312 of the camera, and the output shaft of the first driving motor 37 of the camera is fixedly connected with the second bracket 312 of the camera to form a rotary joint 313 of the camera. The second driving motor 38 is fixed on the second bracket 312, and the output shaft of the second driving motor 38 is fixedly connected with the third bracket 311 to form the pitching joint 39. The first camera 31 and the first camera support 314 of the second camera 32 are respectively fixed at two sides of the power box 36, and the first camera support 314 of the third camera 33 is fixed at the center of the end cover 34. The end cap 34 is fixed to a controller box 35, and the controller box 35 is fixed to a power supply box 36.

The stair cleaning robot controller housing 35 and the power supply housing 36 are constructed as shown in fig. 9 to 11, and include a wheel leg type movement mechanism control signal line first outlet 351, a controller housing first heat dissipation window 352, a movement support arm control signal line outlet 353, a controller housing second heat dissipation window 354, a wheel leg type movement mechanism control signal line second outlet 355, a stair railing cleaning arm controller 356, a wheel leg type movement mechanism and movement support arm controller 357, a stair cleaning arm controller 358, a stair cleaning arm control signal line outlet 359, a controller housing third heat dissipation window 3510, a stair railing cleaning arm control signal line outlet 3511, a stair cleaning arm power supply line outlet 361, a third power box cooling window 362, a power rail outlet 363, a power rail mounting platform 364, a power rail mounting platform 365, a power rail 366, a first power box cooling window 367, a wheel leg movement mechanism and a power rail 368, a power rail mounting platform 369, a power rail outlet 3610, a second power box cooling window 3611, a power rail mounting platform 3612, a wheel leg movement mechanism power rail second outlet 3613, a wheel leg movement mechanism second mounting platform 3614, a wheel leg movement mechanism power rail first outlet 3615, and a wheel leg movement mechanism first mounting platform 3616.

One side of the controller case 35 is provided with a controller case first heat dissipation window 352, a controller case second heat dissipation window 354 and a movement support arm control signal line outlet 353, wherein the controller case first heat dissipation window 352 and the controller case second heat dissipation window 354 are positioned at both sides of the movement support arm control signal line outlet 353. The other side of the controller box 35 is provided with a controller box third heat dissipation window 3510, a stair cleaning arm control signal line outlet 359 and a stair railing cleaning arm control signal line outlet 3511, wherein the controller box third heat dissipation window 3510 is located between the stair cleaning arm control signal line outlet 359 and the stair railing cleaning arm control signal line outlet 3511, opposite to the controller box first heat dissipation window 352 and the controller box second heat dissipation window 354.

The bottom surface of the controller box 35 is provided with a wheel-leg type movement mechanism control signal line first outlet 351 and a wheel-leg type movement mechanism control signal line second outlet 355. The stair railing cleaning arm controller 356, the wheel leg movement mechanism and movement support arm controller 357, and the stair cleaning arm controller 358 are laid flat in the controller box 35 in this order.

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

One side of the power box 36 is provided with a first power box heat dissipation window 367, a second power box heat dissipation window 3611 and a power line outlet 3610 of the movable supporting arm, wherein the first power box heat dissipation window 367 and the second power box heat dissipation window 3611 are positioned on two sides of the power line outlet 3610 of the movable supporting arm. The other side of the power box is provided with a third power box heat dissipation window 362, a stair cleaning arm power line outlet 361 and a stair railing cleaning arm power line outlet 363, wherein the third power box heat dissipation window 362 is positioned between the stair cleaning arm power line outlet 361 and the stair railing cleaning arm power line outlet 363 and is opposite to the first power box heat dissipation window 367 and the second power box heat dissipation window 3611.

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

The stair cleaning arm power supply 366 is output from the stair cleaning arm power cord outlet 361. The power cord of the stair railing cleaning arm power supply 3612 is output from the stair railing cleaning arm power cord outlet 363. In the wheel leg type movement mechanism and movement support arm power supply 368, the power lines of the movement support arm 5 are output from the movement support arm power line outlet 3610, and the power lines of the two wheel leg type movement mechanisms 1 are output from the wheel leg type movement mechanism power line first outlet 3615 and the wheel leg type movement mechanism power line second outlet 3613 respectively.

The kinematic support arm mounting platform 369 is located directly below the kinematic support arm power cord outlet 3610 on the outside face of the power box 36. The moving support arm 5 is fixed 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 railing cleaning arm mounting platform 364 are located directly below the stair cleaning arm power cord outlet 361 and the stair railing cleaning arm power cord outlet 363, respectively, on the outside face of the power box 36.

The stair cleaning arm 2 and the stair railing cleaning arm 4 are respectively fixed on the stair cleaning arm mounting platform 365 and the stair railing cleaning arm mounting platform 364 by flange plates of the respective arm first driving motors 211.

The first wheel leg type movement mechanism mounting platform 3616 and the second wheel leg type movement mechanism mounting platform 3614 are respectively positioned behind the first wheel leg type movement mechanism power line outlet 3615 and the second wheel leg type movement mechanism power line outlet 3613 on the outer side of the bottom surface of the power box 36. The two wheel leg type movement mechanisms 1 are respectively mounted on a wheel leg type movement mechanism first mounting platform 3616 and a wheel leg type movement mechanism second mounting platform 3614.

The structure of the stair cleaning robot moving support arm 5 is shown in fig. 12, and includes a stair cleaning robot arm 21, a moving support arm end effector connecting frame 51, an L-shaped moving support plate protrusion 52, and an L-shaped moving support plate 53. The moving support arm end effector link 51 is fixedly connected to the arm eighth link 2113 of the stair cleaning robot manipulator 21. The movable support arm end effector attachment bracket 51 is secured to the outside of the floor of the L-shaped movable 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 railing cleaning arm mop head self-cleaning tank spin-drying partition 65, a stair railing 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 cleaning water tank sealing cover 62 is embedded into a groove on the side surface of the cleaning water tank body 64, and the cleaning water tank sealing cover handle 61 is pushed and pulled to realize the opening and closing of the cleaning 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 housing 64 is divided into three separate spaces, namely 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 railing cleaning arm mop head self-cleaning tank 66. The second self-cleaning box 611 is internally provided with a spin-drying partition 610 for the second self-cleaning box for the second self-cleaning mop head 222. The first self-cleaning box 67 of the stair cleaning arm mop head is internally provided with a spin-drying partition 68 of the first self-cleaning box of the stair cleaning arm mop head for spin-drying the first self-cleaning water-dipped spherical mop head 222, and the self-cleaning box 66 of the stair handrail cleaning arm mop head is internally provided with a spin-drying partition 65 of the self-cleaning box of the stair handrail cleaning arm mop head for spin-drying the first self-cleaning water-dipped spherical mop head 222.

The stair cleaning robot provided by the invention can realize comprehensive and independent cleaning of the stair tread, the stair vertical surface, the stair connecting platform and the stair railing, and the cleaning operation process comprises the following steps:

first, according to the environmental information and the operation requirement fed back by the third camera 33, the flat road motion gait, the ascending stair gait and the descending stair gait of the wheel leg type motion mechanism 1 of the stair cleaning robot are timely invoked, the robot reaches the cleaning operation site, and the stair cleaning robot completes cleaning operation according to the sequence from the top layer to the bottom layer.

In the second step, when the stair cleaning robot performs the stair cleaning operation, according to the environmental information fed back by the third camera 33, the two wheel leg type movement mechanisms 1 are located on different stair steps, then the leg second driving motor 15 and the leg third driving motor 110 act, the stair cleaning robot squats down, the gravity center position of the machine body 3 is lowered, the leg fourth driving motor 117 is locked, and meanwhile the movement support arm 5 swings downwards, and the tail end L-shaped movement support plate 53 contacts with the nearest stair steps, so that the stability of the stair cleaning robot is improved.

Step three, 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 contacts with the operation platform according to the environmental information fed back by the first camera 31, the arm fifth driving motor 2111 slowly rotates while performing Z-shaped movement, and the cleaning operation of the stair tread and the stair vertical face is realized; meanwhile, the stair railing cleaning arm 4 of the stair cleaning robot swings downwards to be in contact with the stair railing, according to the environmental information fed back by the second camera 32, the spherical mop head 222 with moderate tail end humidity of the stair railing cleaning arm 4 is in contact with the stair railing, the arm fifth driving motor 2111 slowly rotates while performing Z-shaped movement, so that stair railing cleaning operation is realized, then the stair railing cleaning arm 4 moves downwards, the spherical mop head 222 with moderate tail end humidity is in contact with the stair railing, and the guardrail is cleaned from top to bottom according to the guardrail shape information fed back by the second camera 32.

Fourth, when the stair cleaning arm 2 of the stair cleaning robot performs stair connection platform cleaning operation, 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 type second driving motor 15 and the leg type third driving motor 110 act, the stair cleaning robot squats down, the gravity center position of the machine body 3 is lowered, the leg type fourth driving motor 117 is locked, the movement supporting arm 5 swings downwards, the tail end L-shaped movement supporting plate 53 contacts with the cleaning operation platform, the stability of the stair cleaning robot is improved, the stair cleaning arm 2 swings downwards and contacts with the operation platform, and the arm type fifth driving motor 2111 slowly rotates while performing Z-shaped movement, so that the wiping operation of the ground is completed; meanwhile, the stair railing cleaning arm 4 of the stair cleaning robot swings downwards to be in contact with the stair railing, 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 railing cleaning arm 4 is in contact with the stair railing, the arm fifth driving motor 2111 slowly rotates while performing Z-shaped movement to realize stair railing cleaning operation, then the stair railing cleaning arm 4 moves downwards, the spherical mop head 222 with moderate humidity at the tail end is in contact with the stair railing, the guardrail is cleaned from top to bottom according to the guardrail shape information fed back by the second camera 32, and after the guardrail cleaning task is completed, the spherical mop head 222 at the tail end of the stair railing cleaning arm 4 moves upwards and is separated from the stair railing.

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 resumes the gesture when moving, moves to a new operation point of the stair connecting platform, and repeats the previous operation until the cleaning operation of the stair connecting platform is completed.

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

the first step, the L-shaped movable supporting plate bulge 52 at the tail end of the movable supporting arm 5 pushes the cleaning water tank sealing cover handle 61 to open the cleaning water tank 6;

in the second step, the spherical mop head 222 of the stair cleaning arm 2 enters the first self-cleaning box 67 of the mop head of the stair cleaning arm, the arm fifth driving motor 2111 drives the spherical mop head 222 to rotate forward and backward for 10 circles alternately, the primary 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 68 of the first self-cleaning box of the mop head of the stair cleaning arm, the arm fifth driving motor 2111 drives the spherical mop head 222 to rotate in a single direction for 20 circles rapidly, and the spin-drying of the spherical mop head 222 of the stair cleaning arm 2 is completed. Meanwhile, the spherical mop head 222 of the stair railing cleaning arm 4 enters the stair railing cleaning arm mop head self-cleaning box 66, the arm fifth driving motor 2111 drives the spherical mop head 222 to rotate forwards and backwards for 10 circles alternately, cleaning of the spherical mop head 222 of the stair railing cleaning arm 4 is completed, the cleaned spherical mop head 222 enters the stair railing cleaning arm mop head self-cleaning box spin-drying partition 65, the arm fifth driving motor 2111 drives the spherical mop head 222 to rotate in a single direction for 20 circles rapidly, and spin-drying of the spherical mop head 222 of the stair railing cleaning arm 4 is completed;

Third, according to the cleanliness of the stair tread fed back by the first camera 31, it is determined whether the spherical mop head 222 of the stair cleaning arm 2 needs to perform the second self-cleaning. If the tread cleanliness is higher, the secondary self-cleaning is not needed, and the step is omitted; if the tread cleanliness is low, secondary self-cleaning is required. 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 arm fifth driving motor 2111 drives the spherical mop head 222 to rotate forward and backward alternately for 10 circles, secondary cleaning of the spherical mop head 222 of the stair cleaning arm 2 is completed, the cleaned spherical mop head 222 enters the second self-cleaning box spin-drying partition 610 of the stair cleaning arm mop head, the arm fifth driving motor 2111 drives the spherical mop head 222 to rotate in a single direction for 20 circles, and spin-drying of the spherical mop head 222 of the stair cleaning arm 2 is completed.

Fourth, the L-shaped movable supporting plate protrusion 52 at the end of the movable supporting arm 5 pushes the cleaning water tank sealing cover handle 61 to close the cleaning water tank 6.

While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.

Claims

1. The robot for cleaning the stair steps and the guardrails is characterized by comprising a machine body, wherein a camera is respectively arranged on the left side surface, the right side surface and the top surface of the machine body, a moving support 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 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 support arm, the stair cleaning arm, the stair handrail cleaning arm and the wheel leg type moving mechanism are arranged in the machine body;

2. The robot for cleaning steps and guardrails of claim 1, wherein the stair cleaning arm and the stair railing cleaning arm 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 arm driving motor is fixedly connected with the first arm connecting frame to form a first arm rotary joint;

the end effector is fixedly connected to the arm eighth link.

3. The robot for stair step and guardrail cleaning of claim 2 wherein the end effector comprises a cleaning head attachment frame and a spherical mop head, the cleaning head attachment frame being fixedly attached to the eighth attachment frame of the arm portion of the cleaning arm, the spherical mop head being fixedly attached to the cleaning head attachment frame.

4. A robot for stair step and railing cleaning according to claim 3, wherein the spherical mop head size of the stair cleaning arm is larger than the spherical mop head size of the stair railing cleaning arm.

5. A robot for stair step and railing cleaning according to claim 2, wherein the arm structure of the moving support arm is identical to the arm structures of the stair cleaning arm and stair railing cleaning arm, but the end effector structure is different.

6. The robot for stair step and guardrail cleaning of claim 5, wherein the end effector of the movable support arm comprises an end effector connecting frame and an L-shaped movable support plate, the end effector connecting frame being fixedly connected with the eighth connecting frame of the arm of the movable support arm and the bottom plate of the L-shaped movable support plate, respectively.

7. The robot for cleaning stair steps 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, wherein power supplies connected with a moving support arm, a stair cleaning arm, a stair railing cleaning arm and a wheel leg type moving mechanism are respectively arranged in the power box, and a power supply wire outlet, a radiating window, a stair railing cleaning arm mounting platform, a stair cleaning arm mounting platform and a moving support arm mounting platform are correspondingly arranged on the wall and the bottom of the power box respectively;

8. The robot for cleaning stair steps and guardrails according to claim 1, further comprising a cleaning water tank, wherein the water tank comprises a tank body, a transverse drawing type sealing cover is arranged on the upper portion of the tank body, a lifting handle is arranged on the side face of the tank body, the interior of the tank body is divided into three independent cavities through two longitudinal plates, a partition used for spin-drying a spherical mop head is arranged in each cavity, and through holes are formed in the partition.

9. A cleaning method for a stair step and guardrail cleaning robot comprising a robot for stair step and guardrail cleaning according to any of claims 1-8, characterized by the steps of: