Research On A Universal Controlling Structure With Application To The Window-Cleaning Robot

Focusing on the unique characteristics, multi-driven and structure-alterable two-vehicle, of the dexterous window-cleaning robot, this paper puts forward a completely distributed robot system with cell structure and distributed intelligence. On this basement, the paper deeply researches the following problems: realization of the robot controlling architecture, global planning, kinematics model, Point-stabilization and tracking control, distributed software structure and realization, development of robot control hardware and so on.Firstly, considering that the window-cleaning robot is a multi-driven and that the structure should be universal to most mobile robot, the paper puts forward a completely distributed intelligence controlling system--攃ell structure, distributed intelligence? It constructs a model of the intelligent cell based on decision-action, then builds SPN抯 model of multi-cell and analyses the net model by using MC.Secondly, covering-mobile and covering-path plan are brought forward, because many mobile robots, such as cleaning robot, weeding robot, have 慶overing?characteristic when working, In this section, the paper gives the definitions of random covering-path plan, completely covering-path plan and their mathematical descriptions and evaluating functions. Then, the paper designs the covering-path planner of the window-cleaning robot0Thirdly, the kinematics model of the dexterous window-cleaning robot, or structurealterable two-vehicle, is established for controlling, and the nonholonomic constraint equations are illustrated. On such a basis, the paper proves the robot抯 stabilization and gives a path-tracking controller.Fourthly, the paper builds the mathematical model of the velocity system of unilateral pedrail of the robot and provides all calculating data of the parameters in the model. Also, it brings forward a new method of velocity measurement called C-MIT, with application to velocity-tracking controller of the unilateral pedrail system.2Fifthly, the paper describes the basic structure of the software and the controlling system based on CAN net and 80C592 micro-controller.In next section, on basis of discussing negative-pressure-adjusting principle, detailedly summarizes rules of changing negative pressure by adjusting rotate speed of fan motor. Then it gives a fuzzy algorithm for the controlling of negative pressure in sliding sealed suction cup.Finally, the experimental results prove the correctness of the academic analysis and the validity of the prototype.