The automatic cleaning of indoor venues such as corridors,halls,and underground garages has the characteristics of narrow working space and complex and changeable environment.In response to this problem,this paper has developed a fully automatic property cleaning robot.Firstly,the mechanical system scheme of cleaning robots is designed according to the design indicators;Then,dynamic analysis of the cleaning robot is conducted,and the mechanical models for vertical obstacle cross-ing and climbing obstacle crossing are established,thus the optimal parameters of the cleaning robot are calculated;Finally,the designed cleaning robot prototype is validated through horizontal obstacle crossing and climbing experiments.The results show that the cleaning robot can overcome obstacles up to a height of 32 mm and climb a slope angle of 10°,which can meet the needs of cleaning operations in complex environments of property scenes.
property cleaning robotvertical obstacle crossingslope-climbing obstacle crossingdynamic model
NETL
NSTL
万方数据
