The invention discloses a continuous transition method of a cleaning robot from stairs to a middle platform and then to stairs. The method comprises the steps of robot transition from the stairs to the middle platform, traversing of the middle platform of the stairs, robot transition from the middle platform to the next layer of stairs, robot obstacle processing and the like, wherein a method with the combination of detouring and plough-type path planning is adopted in traversing of the middle platform of the stairs. The continuous transition method disclosed by the invention has the advantages of being regular in planning, simple and easy to implement, and capable of guaranteeing the sweeping coverage rate, facilitating determine complete traversing of the middle platform by the robot and determining the follow-up stairs and the like, thereby being an essential means to ensure that the robot can achieve stair continuous sweeping.