Design of low power triangle type stair cleaning machine

The traditional way of manual cleaning stairs, not environmental protection, cleaning efficiency and low, cleaning workers time and labor, in order to solve this problem, the design of a low power MSP430 series single chip staircase. The cleaning machine realizes the combination of the triangular roller and the ordinary wheel to realize the plane movement of the cleaning machine and the down stairs sweeping action. Multi sensors are used to collect the information of road surface, drive the stepper motor module, realize the function of location identification, automatic obstacle avoidance and so on. Through the steering gear to adjust the angle of the sweeping brush, so as to achieve the purpose of cleaning the stairs. The experimental results show that the cleaning machine can realize intelligent path identification, obstacle avoidance, downstairs and cleaning function, stable and reliable operation, with small structure, light weight, low cost, etc., has a certain practical value. Introduction With the development of society, more and more intelligent systems are beginning to take the place of human labor, and they are becoming more and more automated and intelligent [1]. The traditional way of manual cleaning is not only environmental protection, but also low cleaning efficiency. In such a special public environment, it is necessary to replace the traditional manual labor with high efficiency of cleaning tools, a large area of one-time cleaning and easy operation. Takahisa Kakudou et al. Proposed a kind of box climbing robot, which is a combination of climbing and cleaning, and uses the flip up and down way of the [2,3]. He Lianyun [1,4] proposes the use of a parallelogram deformation characteristics achieve downstairs cleaning function of robot, its control core is STC89C51 SCM, response speed and information processing ability is insufficient. Therefore, this paper designed a low-power triangular wheeled stairs cleaning machine, the triangle roller and ordinary round combination, to achieve cleaner horizontal movement and downstairs, a brush cleaning mechanism for cleaning function of stairs on the ground. The cleaning machine with low power consumption MSP430 series processor, sensor detection with combination stair information, identify the location and obstacle avoidance functions, by controlling the stepper motor and steering action, so as to control the cleaning machine for walking, and a brush cleaning action. 1 Design of the Overall scheme of the low power triangle stair sweeper 1.1 Working principle of the cleaning machine The working principle of the cleaning machine mainly includes: cleaning operation, garbage disposal, operation protection, etc. •Cleaning operation mode: The sweeping machine adopts the combination of the triangle wheel and the common wheel, from top to bottom of the stairs slowly from one section to the next section of the operation steps, cleaning machine cleaning brush will run back together with the cleaning machine, and on the stairs under the action of gravity for cleaning. When the cleaning machine runs to the junction of the stairs and floor, identify the current location signal through the sensor, then control the stepper motor to make the cleaning machine turned 90 degrees, moving to the next section of stairs to work, always repeat the above process until the cleaning the stairs. The working track of the sweeper is shown in figure 1. •Garbage disposal: The size of the cleaning machine is small, the garbage collection will 2nd International Conference on Materials Science, Machinery and Energy Engineering (MSMEE 2017) Copyright © 2017, the Authors. Published by Atlantis Press. This is an open access article under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/). Advances in Engineering Research, volume 123