一种可伸缩旋臂的楼梯清洁机器人及其控制设计  

Design and control of a staircase cleaning robot with scalable rotating robotic arm

作　　者：刘宇 张磊[1] 邵建根 刘海涛 顾逢平 章悦 LIU Yu;ZHANG Lei;SHAO Jiangen;LIU Haitao;GU Fengping;ZHANG Yue(School of Mechanical Engineering,Nantong University,Nantong 226019,China;Nantong Mingnuo Electric Technology Co.,Ltd.,Nantong 226631,China)

机构地区：[1]南通大学机械工程学院,南通226019 [2]南通明诺电动科技股份有限公司,南通226631

出　　处：《现代制造工程》2025年第3期60-68,51,共10页Modern Manufacturing Engineering

基　　金：上海交通大学海洋交叉学科课题项目(SL2020MS013);南通市基础科学研究计划项目(JC22022073)。

摘　　要：为了提高楼梯清洁机器人的实用性,设计了一款可伸缩旋臂的楼梯清洁机器人,利用机械臂的旋转下楼,采用伸缩杆与张紧装置相结合的方式实现机械臂可伸缩功能,提高了对不同高度楼梯的适应性。该楼梯清洁机器人主要由清扫结构、可伸缩式下楼结构及控制系统等部分组成。通过设计相应的控制策略使得机器人能够实现楼梯边缘信号判别、下楼控制、单层楼梯面避障、楼梯末端避障及楼梯踢面高度探测等功能,上述控制策略交替执行,从而实现机器人对整层楼梯面的清扫。机械臂可伸缩实验表明,机械臂能够伸长与缩短至不同长度(24~29 cm)。不同高度楼梯下楼实验表明,机器人能够适应10~20 cm之间不同高度的楼梯,下楼成功率为100%。楼梯踢面高度探测实验表明,机器人能够根据楼梯踢面高度调整合适的机械臂长度。In order to improve the practicality of the staircase cleaning robot,a staircase cleaning robot with scalable rotating robotic arm was designed,which used the rotation of the robotic arm to go downstairs,and at the same time,a combination of a telescopic rod and a tensioning device was used to achieve the scalable function,improving its adaptability to stairs of different heights.The staircase cleaning robot mainly consists of cleaning structures,scalable downstairs structures,control systems,and other parts.By designing corresponding control strategies for the robot,it can achieve discrimination of stair edge signals,control of downstairs,single-layer stair surface obstacle avoidance,stair end obstacle avoidance,stair kick surface height detection and other functions.The above control strategies were executed alternately to achieve the robot's cleaning of the entire stair surface.The scalable experiment of the robotic arm shows that the robotic arm can extend and shorten to different lengths(24~29 cm).The experiment of going downstairs with different heights shows that the robot can adapt to stairs with different heights between 10~20 cm,and the success rate of going downstairs is 100%.The experiment of stair kick surface height detection shows that the robot can adjust the appropriate length of the robotic arm based on the height of the stair kick surface.

关 键 词：楼梯清洁 机器人 可伸缩式机械臂 下楼 控制系统 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]