A New Compact Stair-Cleaning Robot
A New Compact Stair-Cleaning Robot
复制标题
新型紧凑型楼梯清洁机器人
DOI：
10.1115/1.4032700
复制
发表时间：
2016-08-01
影响因子：
2.6
通讯作者：
Shuai, Liguo
中科院分区：
文献类型：
--
作者：
Zhang, Lei;Yang, Yuan;Shuai, Liguo
在过去的几十年里，已经提出或开发了各种爬楼梯或清洁机制。它们大多体积大、结构复杂、价格昂贵，阻碍了它们的实际应用。本研究提出并研制了一种新型的楼梯清扫机器人。在新的机器人中，一双腿被用来爬楼梯。机器人的腿绕着主体旋转，驱动脚执行旋转但平移的运动，从而允许机器人攀登。与大多数传统的清洁楼梯或攀爬机器人相比，这种新型机器人非常紧凑，因为只使用一台电机来驱动攀爬机构，当机器人不攀爬时，腿可以在两侧缩回。其紧凑的结构使新型机器人能够沿着立管移动，在楼梯上进行清洁，这是与大多数同类机器人相比的一个突出优势。清洁装置的设计类似于目前地面清洁机器人的设计。传感和控制系统设计用于成功爬楼梯和避免跌倒和碰撞。实验表明，这种新型机器人在爬上爬下常见类型的楼梯时具有很高的成功率，从而可以对相关的楼梯进行清洁。
Various stair-climbing or cleaning mechanisms have been proposed or developed in the past decades. Most of them are big-sized, complex, and/or expensive, which hinder their practical application. In this study, a new stair-cleaning robot is proposed and developed. In the new robot, a pair of legs is used for stair climbing. Rotating around the main body, the legs of the robot drive the feet to execute revolving but translational motions, thereby allowing the robot to climb. The new robot is highly compact compared with most traditional stair-cleaning or climbing robots, because only one motor is utilized to drive the climbing mechanism and the legs can be retracted at both sides of the robot when it is not climbing. Its compact structure enables the new robot to move along the riser to do cleaning on the stairs, which is a prominent advantage over most similar robots. The cleaning device is designed similar to that of current ground cleaning robots. The sensing and control system is designed for successful stair climbing and avoidance of falls and collisions. Experiments show that the new robot has high success rates in climbing up or down common types of stairs, and thus can do cleaning on the related stairs.