楼梯清洁机器人从休息平台到下楼过渡方法的研究  

Research on the Method of Transition of Stair Cleaning Robot From Rest Platform to Downstairs

作　　者：姚兴田[1] 徐冰辉 张磊[1] 庞正扬 YAO Xing-tian;XU Bing-hui;ZHANG Lei;PANG Zheng-yang(Nantong University,School of Mechanical Engineering,Jiangsu Nantong 226019,China;Jiangsu Greenhub Technology Co.,Ltd. Jiangsu Nantong 226631,China)

机构地区：[1]南通大学机械工程学院,江苏南通226019 [2]江苏亘德科技有限公司,江苏南通226631

出　　处：《机械设计与制造》2019年第A01期131-134,140,共5页Machinery Design & Manufacture

基　　金：江苏省六大人才高峰项目(ZBZZ-023)

摘　　要：楼梯清洁机器人面向实际应用需解决最关键的问题之一是机器人在休息平台需走多久才决定下楼。针对该问题,研究发现机器人经过较多次对往下楼梯的探空,休息平台的清扫覆盖率已达到保证,此时机器人可以下楼。为此通过计算机仿真,采用随机路径规划清扫,以探空次数作为参数,分析探空次数与机器人在休息平台内清扫覆盖率的关系。仿真结果表明,清扫覆盖率与机器人探空次数呈指数型分布,并且与楼梯尺寸存在一定关系,并最终建立了覆盖率的数学模型,给出了最佳的探空次数,当机器人探空到该次数,便可下楼,实现从平台遍历到下楼的过渡。该方法成本低廉,为楼层清扫的连续性奠定了基础,有利于将成果推向实际应用。One of the most critical problems that need to be solved for practical applications of stair cleaning robots is how long it takes the robot to clean a rest platform before deciding to go downstairs.In response to this problem, it was found that after many times the robot had gone down the stairs to the sounding, the coverage rate of the rest platform had been guaranteed and the robot could go downstairs.Through computer simulation, a random path planning is used. The number of soundings is used as a parameter to analyze the relationship between the number of soundings and the robot cleaning coverage rate in the rest platform.The simulation results show that the evolution of platform cleaning coverage rate expressed in the number of robot soundings has an exponential shape, and there is a certain relationship with the size of the stairs, then the mathematical model of the coverage rate is established.Finally, the best number of soundings is discussed. When the robot reaches this number of times, the robot can go downstairs and realize the transition from platform to downstairs.This method has low cost and lays a foundation for the continuity of floor cleaning, which is beneficial to push the results of this article to practical application.

关 键 词：楼梯清洁机器人 楼梯清扫 随机路径规划 覆盖率模型 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]