現今社會的進步，人口快速的成長，在有限的土地資源上，人們漸漸從橫向空間的發展進入到縱向的延伸，所以生活中處處可見階梯的蹤影。目前市面上雖有清潔機器人的販售，但大多是適用於較為簡單平坦無凹凸的地面，因此本研究主要目的為建構一台爬樓梯清潔機器人，透過單晶片及感測器的搭配和控制，使得機器人能上下樓梯進行清潔工作。
機器人的控制核心為PIC18F4520控制晶片，此單晶片具有Flash program程式記憶體功能，可重複燒錄程式，適合開發產品、教學等用途，本研究利用單晶片PIC18F4520做為主要控制與命令核心，負責馬達控制、線性致動器、紅外線感測器及微動開關的訊號處理。機構部分，將機體分成三段，根據紅外線感測器及微動開關的感測訊號，控制線性致動器的推出跟收入，藉由分段式的方法使機器人能在階梯上一步一步的分段行走；清潔部分，在集塵盒中裝置一個12V的串激馬達做為吸塵主要核心，並在機器人機體兩側利用塑膠軟管來吸取灰塵達到清潔環境的效果。

Stairs have become a more prevalent sight in tall buildings in this modern days. What makes this happen is the change form transverse to vertical civil constructions because of the increasing populations. Stair cleaning is time and manpower consuming because of its uneven structures. While there are abundant numbers of cleaning robots, they often work on flat surfaces without irregularities, not to mention ladders. This study aims to construct a robot that can clean stairs and other similar obstacles through technologies of machinery, single-chip, and sensors. This innovative robot is be able to clean trash both up and down stairs.
The brain of the robot is a PIC18F4520 single-chip controller that has a flash memory to allow developers to burn control programs repeatedly. It is the control center responsible for motor control, linear actuators, infrared sensors, and micro-switch signal processing. The stair climbing machinary of the robot consists of three major sections with linear actuators controlled by the signals of infrared sensors and micro switches. Driven by the stepping motors, the linear actuators push down and up the three sections in turns to step up or down the stairs. The cleaning machinary of the robot is a dust box with a 12Vseries wound motor inside as the main source of vacuuming force and plastic hoses on both sides of the robot’s body are the main pathes for absorbing dust to the dust box.

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