Research On Control System Of Intelligent Cleaning Robot

Many of the production equipment working in harsh environments, it’s easy to becontaminnated and the contaminated equipment will reduce work efficiency, eveninfluence the safety operation, so they must be cleaning. Cleaning robots previouslydeveloped in our group only can clean condenser, not have enough freedom, so theyare not universal cleaning robots and can’t be applied to other industries. A intelligentcleaning robot with six degrees of freedom is proposed in this paper, it can not only beused for large condenser for independent online cleaning, and can also be used forother industries. Mechanical structure and electric control system of intelligentcleaning robot is designed in detail and the controller of cleaning arm is researched.The composition and cleaning methods of condenser, the development status ofthe cleaning robot and its related technologies, the advantages and disadvantages ofthe ordinary three generations condenser cleaning robot are analyzed; on these baseswe design a intelligent cleaning robot which has a mobile platform with caterpillarand six degrees of freedom cleaning arm.The electromechanical control system which consists of monitoring system andonboard system is designed to ensure intelligent cleaning robot automatically andefficiently complete the cleaning tasks. Main work of monitoring system is monitoringthe operating status of the robot, the operator can also control robot move through themonitoring system when necessary; Onboard system is core of the control system, ituses upper and lower position machine operating mode. The upper position machine’smain task is obtaining environmental information、 processing information andcomputing; the lower position machine controls the operation of execution module.And the visual system, cleaning arms electromechanical control system and highpressure water control system are designed in detail.The coordinate systems of cleaning arm is established through using d-h method,the kinematics and inverse kinematics of cleaning arm are analyzed. The rotationangle of each joint can be obtained by solving the cleaning arm inverse kinematicsequations, these rotation angles are inputs of intelligent control system of cleaningarm.A RBF fuzzy neural network control system for cleaning arm is designed basedon the research of combining technology of the fuzzy systems and the neural networksand characteristics of cleaning arm electrical control system. The RBF fuzzy neural network controller of RBF fuzzy neural network control system can output the desiredresults in simulation experiments which simulats the spray gun positioning the pipesin condenser. The results prove that the intelligent control system of cleaning arm canmeet the requirement of the spray gun accurately positioning the target.