Design Of Indoor Cleaning Robot For Property

Currently,the world is facing common issues such as aging population and rising labor costs,while urbanization is accelerating and a large amount of real estate buildings require professional property cleaning management.With the increasing integration of mobile robot technology and cleaning equipment,intelligent cleaning is becoming a major trend for future development.Cleaning robots can operate efficiently and autonomously without human intervention,reducing labor costs and relieving labor intensity.Currently,the technology for household sweeping robots and unmanned sweeping vehicles is relatively mature,but the former has limited operating range and a single operating scenario,while the latter is bulky and mainly targeted at outdoor environments,making it difficult to meet the needs of property building cleaning.Therefore,from the perspective of indoor cleaning,designing robots that meet the low-cost autonomous cleaning requirements of property buildings is particularly important.This article combines the cleaning environment and garbage characteristics of property buildings to complete the overall design of a cleaning robot,including mechanical systems,control systems,and autonomous operation algorithm design.In terms of mechanical systems,a three-wheel differential drive chassis was determined through multiple configuration comparisons,and the drive motor was selected through theoretical analysis and calculations to improve the cleaning efficiency by designing a vacuum and sweeping integrated cleaning system.The control system is based on modular design,with principle diagrams and control flow designs for the main controller module,motion control module,and operation control module,achieving controlled motion and orderly operation of the cleaning robot through the collaboration of various modules.To meet the characteristics of indoor cleaning areas and path planning requirements,an autonomous operation algorithm based on an improved spiral backtracking method was constructed.The algorithm divides the area to be cleaned into individual sub-areas for spiral traversal and uses a backtracking mechanism to connect multiple sub-areas,recognizing static obstacles and efficiently avoiding them based on prior map information.A dynamic window-based obstacle avoidance strategy was designed for random obstacles,achieving flexible obstacle avoidance and full coverage requirements.Finally,the effectiveness of the autonomous operation algorithm was verified through simulation and real vehicle testing.This article verifies the rationality of the structural design through the production of a cleaning robot prototype,and proves that the indoor cleaning robot designed in this article can achieve the expected motion control and operation control goals through motion control accuracy testing,cleaning function testing,path planning,and obstacle avoidance testing,thus meeting the needs of indoor autonomous cleaning for property buildings.