多功能清洁机器人机械结构设计与控制

摘要

In view of the high risk and high labor intensity during glass cleaning of high-rise building,a multi-functional cleaning robot was designed.This cleaning robot is mainly composed of the modules for driving & cleaning,watering,mopping & cleaning and controlling.It takes AT89C52 single-chip computer as the control kernel and adopts multi-sensor technology.It has the functions involving automatic obstacle avoidance,path navigation,remote monitoring and features lightweight structure,long mission duration high cleaning efficiency.Through the prototype test it shows that the clean robot is stable and reliable in performance and powerful on cleaning ability while reducing the labor intensity of the working personnel.%针对高楼大厦顶部玻璃清洁危险性高、劳动强度大等问题,设计了一款多功能清洁机器人.这一清洁机器人主要由驱动清扫、洒水、拖地清洁及控制等模块组成,以AT89C52单片机为控制核心,采用多传感器结合技术,具有自动避障、路径导航、远程监控等功能,且结构轻巧,续航时间长,清洁效率高.通过样机测试表明,这一清洁机器人性能稳定可靠,清洁能力强,可以降低工作人员的劳动强度.