Mechanism and method for mobile robot to go upstairs and downstairs based on Mecanum wheel omni-directional steering function

The invention discloses a mechanism and a method for a mobile robot to go upstairs and downstairs based on a Mecanum wheel omni-directional steering function. The mechanism comprises a horizontal maintaining mechanism of a carrying platform, a control panel installation box, Mecanum wheels, a rotating mechanism which is installed on an outer side support disc of the Mecanum wheels and can rotate by a certain angle at the center, and an anchor-shaped part which can move along with the rotating mechanism. The mechanism further comprises a spring which is connected with the anchor-shaped part anda limiting device which is used for limiting the movement position of the anchor-shaped part. When the Mecanum wheel move on the flat ground, the anchor-shaped part retracts, and the robot mainly depends on movement and steering of the Mecanum wheels; when the robot moves to the position near stairs and prepares to go upstairs, the rotating mechanism rotates by a certain angle, the anchor-shapedpart is driven by the spri