Hardware and software integration for domestic stairs cleaning robot

In the paper, this robot is designed to integrate the dynamic mechanism, dust removal equipment, electric circuit and single-chip microprocessor for cleaning indoor stairs. For lateral movement and going up or down stairs, the main components of dynamic mechanism have four power wheels, five gears and one gear chain, two motors, three sliding supports and two linear actuators. Many Sensors around the main body are used to avoid collision with the floor obstacles or the fall from the stairs. The dust removal equipment consists of two automatic support frames for adjusting the height of the different stair risers and two automatic vacuum ports for the cleaning on every stair tread. The automatic cleaning action of dynamic mechanism and dust removal equipment is controlled by both electric circuit and single-chip microprocessor. For the operation of functionality and practicality, a remote control switch is added to the robot with four models, including floor cleaning, going up stairs cleaning, going down stairs cleaning, automatic cleaning and so on.