轨道交通车站智能清洁机器人系统设计

Design of Intelligent Cleaning Robot System for Rail Transit Stations

摘要: 针对轨道交通车站客流密集、场景复杂、保洁要求高的现状，本文设计一款专用智能清洁机器人。结合场站工况分析传统人工清洁模式的不足，明确设备设计需求与基本原则，完成系统架构、机械结构、硬件、动力及清洁机构整体设计。采用Cartographer SLAM算法实现环境建图，融合A*、TEB + DWA算法完成路径规划与动态避障，配套开发分级作业逻辑。通过消融实验、量化测试与现场实测验证设备性能，结果表明该机器人运行稳定、避障灵敏、清洁效率突出，可满足车站全自动保洁需求，能够降低人力运维成本，为轨道交通智能清洁装备研发与应用提供实践参考。

Abstract: In response to the current situation of dense passenger flow, complex scenes, and high cleaning requirements in rail transit stations, this article designs a dedicated intelligent cleaning robot. Analyze the shortcomings of traditional manual cleaning mode based on station operating conditions, clarify equipment design requirements and basic principles, and complete the overall design of system architecture, mechanical structure, hardware, power, and cleaning mechanism. Using the Cartographer SLAM algorithm to achieve environmental mapping, integrating A*, TEB + DWA algorithms to complete path planning and dynamic obstacle avoidance, and supporting the development of hierarchical job logic. Through ablation experiments, quantitative testing, and on-site measurements, the performance of the equipment has been verified. The results show that the robot operates stably, avoids obstacles sensitively, and has outstanding cleaning efficiency. It can meet the requirements of fully automatic cleaning at stations, reduce human operation and maintenance costs, and provide practical reference for the research and application of intelligent cleaning equipment for rail transit.