CN113768418A

CN113768418A - Multifunctional ladder stand cleaning robot based on code disc and gyroscope positioning

Info

Publication number: CN113768418A
Application number: CN202110976937.2A
Authority: CN
Inventors: 李党超; 多小川; 林心怡; 吴启; 王迪; 杨春风; 张家豪; 卢政昕; 柳滢坤; 刘韦辰; 叶书航; 张育林
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2021-08-24
Filing date: 2021-08-24
Publication date: 2021-12-10

Abstract

A multifunctional ladder cleaning robot based on code disc and gyroscope positioning comprises a code disc, a moving wheel device, a lead screw sliding table device, a cleaning mechanism, a floor mopping mechanism and a control panel, wherein the code disc is used for realizing the positioning function when the robot moves on the flat ground; the robot is driven by a motor on the basis of a double-screw three-chassis structure, the lifting action of each chassis is realized through screw transmission, the climbing and downstairs actions of the robot are completed, and the chassis is provided with an ultraviolet lamp to realize sterilization and disinfection on the ground; the invention integrates the cleaning function, occupies small area, supports the ladder surface cleaning, meets the intelligent development requirement in a diversified control mode, and fills the market gap of the duplex household cleaning robot.

Description

Multifunctional ladder stand cleaning robot based on code disc and gyroscope positioning

Technical Field

The invention relates to an intelligent household ladder stand cleaning robot, in particular to a multifunctional ladder stand cleaning robot based on coded disc and gyroscope positioning, which is an intelligent household ladder stand cleaning robot capable of realizing accurate positioning, ladder stand, cleaning and disinfection, air monitoring and diversified intelligent control.

Background

With the acceleration of life rhythm, the time that people can do housework is less and less. Therefore, the demand of consumers for the home service robot is increasing, and as early as 2010, the domestic personal and home service robot market is silently emerging. In all household tasks, cleaning work is unavoidable in human life and this can be done by a household cleaning robot. It follows that the cleaning robot has a wide consumer market. Statistics show that the retail amount of the global sweeping robot market in 2012 is $ 10.4 billion, and 3 times in 2018, which reaches $ 35.3 billion, and the number is projected to increase to $ 54.6 billion by 2022. Meanwhile, the sales volume of domestic sweeping robots is increased year by year in recent years, and the retail scale reaches the million orders. As a high-tech partner of human family life, the sweeping robot gradually enters the ordinary families of Chinese residents to provide convenience for the daily life of people

From the hundred-degree search index, since about 2010, the sweeping robot is in the rise in China, the search attention of the sweeping robot tends to rise all the way. At present, a plurality of mature indoor sweeping robot products such as i5Young, millet R1-L083B, Cowss DF45 and the like exist in the market, but most of the products are only suitable for flat ground sweeping. In other words, at present, no mature floor sweeping robot product capable of fully automatically climbing stairs exists at home and abroad. In the academic field, there are many design ideas of ladder climbing robot mechanical structures, such as bionic structures, stepping structures, planar link mechanisms, star wheel mechanisms and crawler mechanisms, and the research conditions are as follows.

(1) Such as CN 201920211996.9. The claw-shaped structure is used for climbing, is flexible, but has high requirements on the ground gripping performance of the structure and poor stability.

(2) Such as CN201711407786.9 wheel obstacle crossing mechanisms. The elastic part is connected with the wheel, the wheel can be bounced to pass through the obstacle when the obstacle is encountered, but the height and the angle of the obstacle are greatly limited, and once the obstacle is higher than the radius of the wheel, the obstacle cannot pass through the obstacle.

(3) Such as the Z-type structure of CN 202010358165.1. The main body of the machine is supported by the two support rods to go upstairs, but the machine is easy to tip over when going upstairs, and the stability is poor.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a multifunctional ladder climbing cleaning robot based on coded disc and gyroscope positioning, which meets the requirement of the current market on a duplex cleaning robot and improves the life quality of users by integrating multiple functions of cleaning, ladder climbing, disinfection and the like and performing diversified application of intelligent control.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a multifunctional ladder cleaning robot based on coded disc and gyroscope positioning comprises a bottom plate 34, coded discs 6 which are arranged on the left side and the right side below the middle of the bottom plate 34 and are used for realizing a positioning function in a flat ground movement state, a moving wheel device 7 which is arranged on the outer side of the coded discs 6 below the bottom plate 34 and is used for realizing the flat ground movement, a screw rod sliding table device 1 which is used for connecting the front part, the middle part and the rear part of the bottom plate 34 and realizing the ladder movement, a cleaning mechanism 3 which is arranged at the front end of the bottom plate 34 and is used for cleaning garbage and absorbing dust, a floor mopping mechanism 5 which is arranged at the rear end of the bottom plate 34 and is used for mopping, disinfecting and spraying and humidifying, and a control panel 4 which is arranged above the bottom plate 34.

The code wheel 6 for realizing the positioning function in the flat ground movement state comprises a code wheel support frame 8, a rolling bearing 10 is arranged on the code wheel support frame 8, the rolling bearing 10 is connected with a universal wheel 16 through a code wheel connecting shaft 15, the universal wheel 16 is connected with an encoder 11 through a flange plate 9, the code wheel support frame 8 is connected with an A sliding block 14, the A sliding block 14 is matched with a sliding rail 12, a spring 13 is sleeved on the sliding rail 12, the sliding rail 12 is connected with the middle of a bottom plate 34, a gyroscope 56 is fixed above the rear end of the bottom plate 34, and photoelectric sensors 54 are arranged on the left side and the right side of the front end of the bottom plate 34.

The moving wheel device 7 for realizing the flat ground movement comprises a friction wheel 22, one side of the friction wheel 22 is connected with a shaft of an M2006 motor 20 through a bearing 21 of a friction wheel coupling I23, and the M2006 motor 20 is connected with a friction wheel motor connecting piece 18; the other side of the friction wheel 22 is fixed with a bearing 25 through a friction wheel coupler II 24, and the bearing 25 is matched with the friction wheel motor base 19; the friction wheel motor connecting sheet 18 and the friction wheel motor base 19 are both connected with the bottom plate 34.

The lead screw sliding table device 1 for achieving crawling ladder movement comprises a motor 30, an output shaft of the motor 30 is connected with a lead screw 28 in a matched mode, the lead screw 28 is connected with an internal thread of a B sliding block 27 through threads, and the lead screw 28 is connected with a fixing main body 29 through a bearing.

The cleaning mechanism 3 for cleaning garbage and absorbing dust comprises a motor 41 fixed on a small motor base 43, the motor 41 is connected with a large gear 42, the large gear 42 is meshed with a small gear 45 to form an accelerating mechanism, the small gear 45 is in driving connection with a rolling brush 40, and two ends of the rolling brush 40 are fixed on a bottom plate 34 by an A broom base 37 and a B broom base 44; the dust absorption mechanism 35 arranged above the rolling brush 40 is fixed on the bottom plate 34; the bottom plate 34 is also fixed with a steering engine 31 through a steering engine fixing frame 32, the steering engine 31 drives the dustpan 38 through a connecting rod 33, and the driving dustpan 38 is fixed on the bottom plate 34 through a dustpan cover 36.

The floor mopping mechanism 5 for mopping, disinfecting, spraying and humidifying comprises a mop cover 48 playing a supporting role, a mop cloth 49 is arranged at the bottom of the mop cover 48, the upper part of the mop cover 48 is connected with the rear end of a bottom plate 34 through a side plate 47, a humidifier 46 is arranged on the bottom plate 34, an ultraviolet disinfection lamp 57 is arranged below the middle end of the bottom plate 34, and the upper connection and the lower connection of the side plate 47 are realized through an angle connector 50.

The control panel 4 of the system comprises an STM32F407ZGT6 singlechip 51, an Arduino MAGA2560 mainboard 52 and a raspberry pie 53; the STM32F407ZGT6 single chip microcomputer 51 controls the motor 30 through PWM wave drive and output IO, and controls the M2006 motor 20 through CAN communication; the Arduino MAGA2560 main board 52 controls the motor 41 and the humidifier 46 through output IO, and controls the steering engine 31 through PWM; raspberry pie 53 communicates with STM32 singlechip 52 through the serial port and receives information from WIFI.

The bottom of the bottom plate 34 is provided with a bull-eye wheel 39.

The invention has the advantages that:

(1) the invention is closely related to the current market situation and the requirement; the cleaning robot can well meet the market demand by designing a compound robot in combination with the increasing demand of the cleaning robot in the existing market and the less current situation of the compound robot.

(2) The invention adopts full-automatic integration of a cleaning system. The multifunctional garbage cleaning machine integrates the functions of cleaning, dust collection, mopping, disinfection, local humidification and automatic garbage dumping, has complete cleaning function, and is different from the products in the market without manually cleaning a robot dust box.

(3) The ladder stand disclosed by the invention adopts the three-chassis double-lead-screw lifting mechanism to realize the ladder stand function and is suitable for all indoor terrains. The double code discs are matched with the gyroscope to realize the positioning function, and the positioning method has higher accuracy compared with the positioning modes such as beacon positioning, laser positioning and the like on the market.

(4) The invention adopts diversified intelligent control. The system supports STM 32-based infrared remote control, voice module control and touch screen control, and raspberry pi-based mobile phone WIFI control, such as an applet and a collection voice assistant.

Drawings

FIG. 1 is an isometric view of the present invention.

FIG. 2 is an isometric view of a code wheel.

Fig. 3 is a bottom view of the moving wheel.

Fig. 4 is an isometric view of a screw slide.

Fig. 5 is an isometric view of the cleaning mechanism.

FIG. 6 is an isometric view of the mopping mechanism.

Fig. 7 is a schematic diagram of the control board.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

Referring to fig. 1, the multifunctional ladder cleaning robot based on coded disc and gyroscope positioning comprises a bottom plate 34, coded discs 6 which are arranged on the left side and the right side below the middle of the bottom plate 34 and are used for realizing a positioning function in a flat ground movement state, a moving wheel device 7 which is arranged on the outer side of the coded discs 6 below the bottom plate 34 and is used for realizing the flat ground movement, a screw rod sliding table device 1 which is used for connecting the front part, the middle part and the rear part of the bottom plate 34 and realizing the ladder movement, a cleaning mechanism 3 which is arranged at the front end of the bottom plate 34 and is used for cleaning garbage and absorbing dust, a floor mopping mechanism 5 which is arranged at the rear end of the bottom plate 34 and is used for mopping, disinfecting and spraying and humidifying, and a control panel 4 which is arranged above the bottom plate 34.

Referring to fig. 2, two coded disks 6 for realizing the positioning function in the state of flat motion are vertically distributed on the left side and the right side below the middle part of the bottom plate 34; the encoder comprises a coded disc support frame 8 which mainly plays a supporting role, wherein a rolling bearing 10 is arranged on the coded disc support frame 8 and is limited through a bearing blocking sheet 17, the rolling bearing 10 is connected with a universal wheel 16 through a coded disc connecting shaft 15, and the universal wheel 16 is connected with an encoder 11 through a flange plate 9. The code wheel support frame 8 is connected with the A sliding block 14, the A sliding block 14 is matched with the sliding rail 12, the sliding rail 12 is sleeved with the spring 13, the sliding rail 12 is connected with the middle of the bottom plate 34, so that the whole code wheel 6 is connected with other supporting structures on the upper portion of the mechanism, the gyroscope 56 is fixed above the rear end of the bottom plate 34, the photoelectric sensors 54 are arranged on the left side and the right side of the front end of the bottom plate 34, the code wheel 6 above the gyroscope 56 is used in a combined mode, and the photoelectric sensors 54 are added for assisting to achieve the whole positioning function.

Referring to fig. 3, two moving wheel devices 7 for realizing the flat ground movement are arranged and distributed outside the coded disc 6 below the bottom plate 34, and each moving wheel device comprises a friction wheel 22, one side of each friction wheel 22 is connected with a shaft of an M2006 motor 20 through a bearing 21 of a friction wheel coupling I23, and the M2006 motor 20 is connected with a friction wheel motor connecting sheet 18; the other side of the friction wheel 22 is fixed with a bearing 25 through a friction wheel coupling II 24, the bearing 25 is matched with the friction wheel motor base 19 and is limited by a friction wheel bearing baffle 26 to prevent the bearing 25 from slipping; the friction wheel motor connecting sheet 18 and the friction wheel motor base 19 are both connected with the bottom plate 34.

Referring to fig. 4, the lead screw sliding table device 1 for realizing ladder climbing movement comprises a motor 30, an output shaft of the motor 30 is in fit connection with a lead screw 28, the lead screw 28 is in threaded connection with an internal thread of a B slider 27, the B slider 27 can move along the axial direction of the lead screw 28 after the lead screw 28 rotates, and the lead screw 28 is connected with a fixed main body 29 through a bearing. The lead screw slip table device 1 totally two, one of them is used for connecting the anterior of bottom plate 34 and the middle part of bottom plate 34: the B slide block 27 is connected with the front part of the bottom plate 34, and the fixed main body 29 is connected with the middle part of the bottom plate 34, so that the relative movement control of the front part of the bottom plate 34 and the middle part of the bottom plate 34 can be realized; the other for connecting the middle of the bottom plate 34 and the rear of the bottom plate 34: the B slide block 27 is connected with the rear part of the bottom plate 34, and the fixing main body 29 is connected with the middle part of the bottom plate 34, so that the relative movement control of the rear part of the bottom plate 34 and the middle part of the bottom plate 34 is realized. The two screw rod sliding table devices 1 are matched for use, lifting and descending of the three parts are controlled, and the function of climbing a ladder of the robot can be achieved.

Referring to fig. 5, the cleaning mechanism 3 for cleaning household garbage and dust comprises a motor 41 fixed on a small motor base 43, the motor 41 is connected with a large gear 42, and the large gear 42 is engaged with a small gear 45 to form an accelerating mechanism. The pinion 45 is connected with the rolling brush 40 in a driving way, and two ends of the rolling brush 40 are also fixed on the bottom plate 34 by the broom seat A37 and the broom seat B44; the dust absorption mechanism 35 arranged above the rolling brush 40 is fixed on the bottom plate 34; the bottom plate 34 is also fixed with a steering engine 31 through a steering engine fixing frame 32, the steering engine 31 drives the dustpan 38 through a connecting rod 33, the driving dustpan 38 is fixed on the bottom plate 34 through a dustpan cover 36, and the bottom of the bottom plate 34 is provided with a bull's eye wheel 39 for preventing collision.

Referring to fig. 6, the mopping mechanism 5 for mopping, spraying and humidifying comprises a mop cover 48 for supporting, a mop cloth 49 is arranged at the bottom of the mop cover 48, the mop cloth 49 is connected with the mop cover 48 through screws, the upper part of the mop cover 48 is connected with the rear end of a bottom plate 34 through a side plate 47, a humidifier 46 is arranged on the bottom plate 34, an ultraviolet disinfection lamp 57 is arranged below the middle end of the bottom plate 34, and the upper and lower connection of the side plate 47 is realized through an angle code 50.

Referring to fig. 7, the control panel 4 of the system is arranged on a bottom plate 34 and comprises a master control algorithm with functions of moving, positioning, obstacle avoidance and ladder climbing; the system comprises an STM32F407ZGT6 singlechip 51, an Arduino MAGA2560 mainboard 52 and a raspberry pie 53, wherein the STM32F407ZGT6 singlechip 51 drives a motor 30 through PWM (pulse-width modulation) waves and through output IO (input/output), and controls an M2006 motor 20 through CAN (controller area network) communication; the Arduino MAGA2560 main board 52 controls the motor 41 and the humidifier 46 through output IO and controls the steering engine 31 through PWM; raspberry pie 53 communicates with STM32 singlechip 52 through the serial port and receives information from WIFI. The control means include infrared remote control based on Arduino, touch screen control based on STM32, and cell-phone WIFI control based on raspberry group, such as applet and collect voice assistant.

The bottom of the bottom plate 34 is provided with a bull-eye wheel 39 for preventing collision.

The specific working process of the invention is as follows:

cleaning the flat ground:

in the first step, the user directly commands the robot to start cleaning through an infrared remote control/touch screen button/voice control mode or remotely commands the robot to start cleaning from a server through a WeChat applet/voice assistant. After receiving the information, the control panel 4 controls the relevant mechanism to start the flat ground cleaning work.

And secondly, starting the system to operate and starting the cleaning work. Firstly, the system starts a rolling brush motor to drive a cleaning brush to rotate so as to send garbage and dust to a dust collection port; secondly, the system starts a dust collection motor to drive a fan to suck the garbage into a dust box. Then, the system starts the driving motor to drive the friction wheel to move along a zigzag path. When the robot moves, the forward direction and angle are obtained through a code disc and a gyroscope, and the real-time position is obtained through calculation, so that the cleaning route is adjusted; the distance detection is carried out through the preposed photoelectric switch sensor to avoid obstacles, prevent collision and control turning. When the system enters a disinfection mode, the ultraviolet disinfection lamp is turned on to sterilize and disinfect the cleaned ground. In the mopping mode, the system turns on the humidifier module for watering and humidifying, and the mop cloth rubs with the ground to mop the ground.

And thirdly, an air quality sensor is additionally arranged on the bottom plate and used for reading the data of the air quality sensor, collecting and updating indoor air quality data in real time and displaying the data on the touch screen. The process is in the terminal logic rather than the main routine and can be performed simultaneously with the cleaning operation.

Climbing a ladder:

the robot carries out the place ahead barrier through two leading photoelectric distance measuring sensors of different height and judges at the in-process that advances, and when the difference value of eminence detection distance and low detection distance is great, think the place ahead and be the stair, the robot gets into the cat ladder mode when low detection distance is nearer.

And secondly, the robot stops in front of the stairs, the system automatically controls the screw rod to move, the front vehicle is lifted to the height of the first step, and the height can be calculated by the time when the detection distance at the lower part changes. And then, the system drives the middle vehicle friction wheel to move forwards for a certain distance, the front vehicle is conveyed to a first-stage step, and the position of the front vehicle is adjusted, so that the front and rear vehicle parts become a whole vehicle fulcrum. And after the robot is stable, the lead screw lifts the middle vehicle to the height of the first step. And then the friction wheel of the rear vehicle drives the whole vehicle to move forward for a certain distance, and the middle vehicle is placed on the first-stage step. Then adjusting the position of the middle vehicle to ensure that the center of gravity of the whole vehicle is positioned at the front part; finally, lifting the lead screw to the height of the first step, and enabling the front vehicle friction wheel to move forward; and the whole vehicle reaches the height of the first step.

And thirdly, the system controls the friction wheel of the middle vehicle to perform differential motion, the whole vehicle rotates by 90 degrees, and the robot enters a flat ground cleaning state to start cleaning the stair surface. After the step surface is cleaned, the whole vehicle rotates 90 degrees in the reverse direction to prepare the step climbing of the next step to act.

Dumping garbage:

firstly, the robot stops in front of the garbage can, and the system drives the lead screw to lift the front vehicle, so that the dustpan is lifted to the height of the recycling opening.

And secondly, the whole vehicle moves forward for a certain distance, and the steering engine drives the dustpan to be opened, so that the garbage is poured out.

And thirdly, the steering engine drives the dustpan to be closed, the whole vehicle retreats and lowers the height of the front vehicle, and the cleaning mode returns to the normal cleaning mode.

When cleaning flat ground, the first step is to move to a designated position. The encoder 11 and the universal wheel 16 are mounted by a single degree of freedom mounting frame which is designed and manufactured autonomously. The mounting frame can meet the requirement that the encoder 11 is rigidly connected with the universal wheel 16, and the encoder assembly body is elastically connected with the middle vehicle body, so that the universal wheel 16 can be used as a counting wheel in the moving process of the robot, can be always kept in contact with the ground along with the fluctuation change of the ground, and can be used for ensuring that the encoder 11 is constantly kept in a working state (the distance is measured by using the rolling circumference and the displacement is recorded) in the moving process of the robot on a mechanical mechanism. The combination of the encoder 11 and the universal wheel 16 is used as a meter counter and is matched with a gyroscope, so that the movement can be accurately and stably carried out according to the specified direction, meanwhile, the displacement is accurately recorded, and the positioning function is realized. The robot can establish a topographic map through multiple times of learning, so that path planning is carried out on the basis of the topographic map, the robot moves according to the path under the cooperation of the encoder 11 and the gyroscope, and the accuracy is extremely high. When the garbage sweeper is used, the friction wheel of the middle vehicle is used for driving, the rear vehicle is suspended and is about 1cm away from the ground, the front vehicle keeps the rolling brush in contact with the ground, and the garbage sweeper can normally realize the function of sweeping garbage.

The second step is cleaning. Driven by the motor 30, gear transmission, the rolling brush 40 rotates at high speed while the robot moves, on one hand, solid garbage such as bottle caps, paper scraps, melon seed peels and the like is swept into the dustpan 38 which is designed and used in a matching way to complete sweeping work; on the other hand, the rolling brush 40 disturbs the air near the ground and directly lifts the tiny dust on the ground in the cleaning process, so that the air is coiled with the dust and enters the dustpan in the air suction process when the blower is powered on.

When the ladder is climbed, the first step is that the front vehicle is lifted to the height of a first step, the front vehicle is driven by the friction wheel 22 of the middle vehicle to advance for a certain distance, the two rear screw rod 28 assemblies work simultaneously, and the vehicle body provided with the B sliding block 27 is matched to lift the middle vehicle to the height of the first step along the screw rods 28.

The second step is that the rear vehicle friction wheel 22 is driven to move forward for a certain distance, the center of gravity of the middle vehicle is stabilized on the first step surface and then works through the screw rod 28, and the B slide block 27 is matched to lift the rear vehicle to the height of the first step.

The third step is that the robot enters a plane cleaning state to clean the ladder surface by realizing the rotation of 90 degrees in situ through the differential motion of the middle car friction wheel 22, and then the robot reversely rotates 90 degrees in situ through the differential motion of the middle car friction wheel 22 after the cleaning of the ladder surface, and enters the ladder climbing action of the next step.

When dumping garbage, the first step is to lift the front vehicle by the lead screw 28 after the cleaning work is finished.

The second step is to combine the double-rocker mechanism driven by the steering engine 31 to realize the turnover of the dustpan, thereby realizing the function of automatically dumping garbage. The method specifically comprises the following steps: the steering engine 31 fixed at the point O drives the OA lever to rotate clockwise, and the CB lever rotates anticlockwise through the double-rocker mechanism to drive the dustpan 38 fixed at the CB position to overturn and pour garbage downwards.

Claims

1. The utility model provides a multi-functional cat ladder cleaning machines people based on code wheel and gyroscope location which characterized in that includes: the device comprises a bottom plate (34), code wheels (6) which are arranged on the left side and the right side below the middle part of the bottom plate (34) and used for realizing a positioning function in a flat ground motion state, a motion wheel device (7) which is arranged on the outer side of the code wheel (6) below the bottom plate (34) and used for realizing the flat ground motion, a screw rod sliding table device (1) which is used for being connected to the front part, the middle part and the rear part of the bottom plate (34) and used for realizing the movement of a ladder stand, a cleaning mechanism (3) which is arranged at the front end of the bottom plate (34) and used for cleaning common garbage and dust collection in a family, a floor mopping mechanism (5) which is arranged at the rear end of the bottom plate (34) and used for mopping and spraying and humidifying, and a control panel (4) which is arranged above the bottom plate (34).

2. The multifunctional ladder climbing cleaning robot based on the coded disc and the gyroscope for positioning is characterized in that the coded disc (6) used for achieving the positioning function in the flat ground movement state comprises a coded disc supporting frame (8), a rolling bearing (10) is arranged on the coded disc supporting frame (8), the rolling bearing (10) is connected with a universal wheel (16) through a coded disc connecting shaft (15), the universal wheel (16) is connected with an encoder (11) through a flange plate (9), the coded disc supporting frame (8) is connected with an A sliding block (14), the A sliding block (14) is matched with a sliding rail (12), a spring (13) is sleeved on the sliding rail (12), and the sliding rail (12) is connected with the middle of a bottom plate (34). The gyroscope 56 is fixed above the rear end of the bottom plate 34, and the photoelectric sensors 54 are arranged on the left side and the right side of the front end of the bottom plate 34.

3. The multifunctional ladder climbing cleaning robot based on coded disc and gyroscope positioning as claimed in claim 1, characterized in that the moving wheel device (7) for realizing the flat ground movement comprises a friction wheel (22), one side of the friction wheel (22) is connected with a shaft of the M2006 motor (20) through a bearing (21) of a friction wheel coupling I (23), and the M2006 motor (20) is connected with a friction wheel motor connecting plate (18); the other side of the friction wheel (22) is fixed with a bearing (25) through a friction wheel coupler II (24), and the bearing (25) is matched with a friction wheel motor base (19); the friction wheel motor connecting sheet (18) and the friction wheel motor base (19) are both connected with the bottom plate (34).

4. The multifunctional ladder climbing cleaning robot based on the coded disc and the gyroscope for positioning is characterized in that the lead screw sliding table device (1) for realizing the ladder climbing movement comprises a motor (30), an output shaft of the motor (30) is connected with a lead screw (28) in a matched mode, the lead screw (28) is connected with an internal thread of a B sliding block (27) through a thread, and the lead screw (28) is connected with a fixing main body (29) through a bearing.

5. The multifunctional ladder cleaning robot based on code disc and gyroscope positioning as claimed in claim 1, characterized in that the cleaning mechanism (3) for cleaning the common garbage and dust in the home comprises a motor (41) fixed on a small motor base (43), the motor (41) is connected with a big gear (42), the big gear (42) is meshed with a small gear (45) to form an accelerating mechanism, the small gear (45) is connected with a rolling brush (40) in a driving way, and two ends of the rolling brush (40) are fixed on the bottom plate (34) by an A broom base (37) and a B broom base (44); a dust suction mechanism (35) arranged above the rolling brush (40) is fixed on the bottom plate (34); the bottom plate (34) is further fixed with a steering engine (31) through a steering engine fixing frame (32), the steering engine (31) drives the dustpan (38) through a connecting rod (33), and the driving dustpan (38) is fixed on the bottom plate (34) through a dustpan cover (36).

6. The multifunctional ladder cleaning robot based on code disc and gyroscope positioning is characterized in that the floor mopping mechanism (5) for mopping and spraying humidification comprises a mop cover (48) for supporting, mop cloth (49) is arranged at the bottom of the mop cover (48), the upper part of the mop cover (48) is connected with the rear end of a bottom plate (34) through a side plate (47), a humidifier (46) is arranged on the bottom plate (34), and an ultraviolet disinfection lamp (57) is arranged below the middle end of the bottom plate (34).

7. The code wheel and gyroscope positioning-based multifunctional ladder cleaning robot is characterized in that a control board (4) of the system comprises an STM32F407ZGT6 singlechip (51), an Arduino MAGA2560 mainboard (52) and a raspberry pi (53), wherein the STM32F407ZGT6 singlechip (51) is driven by PWM waves and controls a motor (30) through output IO, and the M2006 motor (20) is controlled through CAN communication; an Arduino MAGA2560 main board (52) controls a motor (41), a humidifier (46) and a steering engine (31) through output IO; the raspberry pi (53) is communicated with the STM32 single chip microcomputer (52) through a serial port and receives information from WIFI.

8. The multifunctional ladder climbing cleaning robot based on the coded disc and the gyroscope positioning is characterized in that a bull-eye wheel (39) is arranged at the bottom of the bottom plate (34).