Dynamic Analysis and Experiment on Obstacle Crossing of Property Cleaning Robots

The automatic cleaning of indoor venues such as corridors, halls, and underground garages has the characteristics of narrow working space and complex and changeable environment. In response to this problem, this paper has developed a fully automatic property cleaning robot. Firstly, the mechanical system scheme of cleaning robots is designed according to the design indicators; Then, dynamic analysis of the cleaning robot is conducted, and the mechanical models for vertical obstacle crossing and climbing obstacle crossing are established, thus the optimal parameters of the cleaning robot are calculated; Finally, the designed cleaning robot prototype is validated through horizontal obstacle crossing and climbing experiments. The results show that the cleaning robot can overcome obstacles up to a height of 32 mm and climb a slope angle of 10°, which can meet the needs of cleaning operations in complex environments of property scenes.