工程设计学报2026，Vol.33Issue(3)：359-369,11.DOI:10.3785/j.issn.1006-754X.2026.05.174
楼宇垃圾桶搬运机器人设计研究
Research on design of building trash bin handling robot
摘要
Abstract
Trash cleaning in modern buildings mainly relies on manual labor,which suffers from high intensity and low efficiency.Meanwhile,general mobile robots face issues such as poor path smoothness and low computational efficiency in complex environments like narrow corridors.To address these issues,a building trash bin handling robot was designed.First,the mechanical structure of the robot was designed,consisting of a two-wheel differential drive chassis module,a lifting module,and a servo-driven clamping module to ensure the stable grasping of trash bins.Then,a hierarchical control system was built based on ROS and µC/OS.Furthermore,an improved A* algorithm was proposed,which adopted a hierarchical directional neighborhood search strategy to optimize search efficiency,introduced an adaptive dual-weight heuristic function to avoid local optimal solutions,and utilized a key node extraction strategy to remove redundant nodes,thereby achieving path optimization.Simulation results showed that search time was reduced by up to 44%,and the number of search nodes was reduced by 50%-80%.The designed robot successfully completed autonomous navigation,inspection,and trash bin handling tasks in prototype testing,verifying its feasibility and effectiveness in building environments.关键词
楼宇机器人/控制系统/A*算法/路径规划Key words
building robot/control system/A* algorithm/path planning分类
信息技术与安全科学引用本文复制引用
李志刚,邹骏鹏,杨翔..楼宇垃圾桶搬运机器人设计研究[J].工程设计学报,2026,33(3):359-369,11.基金项目
国家自然科学基金资助项目(52265046) （52265046）
