楼梯清洁机器人设计与研究
Design and Research of Staircase Cleaning Robot

传统扫地机器人无法完成对楼梯的清洁，而人工清洁楼梯费时费力且有一定的安全隐患。首先设计了楼梯清洁机器人总体结构，采用了履带与麦克纳姆轮结合来实现平地行走和楼梯攀爬，通过吸尘机构及各硬件驱动控制电路和控制程序，使得楼梯清洁机器人可以自主进行楼梯的逐阶清洁，实现一定的路径规划，并且能够避障和防跌落，极大程度地减轻人力负担；其次设计了楼梯清洁机器人的驱动机构、扫地机构及拖地机构等关键模块；最后研究了楼梯清洁机器人的驱动过程。楼梯清洁机器人作为一种实现半自主或自主清洁、环保以及智能型的机器人，具有良好的应用前景和广泛的市场需求。
The traditional sweeping robot cannot finish the cleaning of the stairs, manual cleaning of the stairs is time-consuming and laborious, and there is a certain security risk. Firstly, In order to design and realize the staircase cleaning robot, the combination of crawler and the wheat wheel is adopted to realize the flat walking and stair climbing, and the combination of dust-cleaning mechanism, hardware drive control circuit and control program is also adopted, the robot can carry out step-by-step cleaning of stairs, realize certain path planning, avoid obstacles and prevent falls, and reduce manpower burden to a great extent. Secondly, the driving mechanism, sweeping mechanism and mopping mechanism of the robot are designed. Finally, the driving process of the robot is studied. As a kind of semi-autonomous or autonomous cleaning, environment-friendly and intelligent robot, stair cleaning robot has good application prospects and wide market demand.