Research On Embedded Control Systems For Mobile Cleaning Robot

Mobile cleaning robot can replace the manual labor work in an environment unfitfor human, the advantages of high labour intensity and high efficiency make themobile cleaning robot research became a hot topic in the field of robotics research.This thesis analyzes the devoloping of mobile cleaning robot and the application ofembedded control systems, and focuses on the existing mobile cleaning robot,redesigned the embedded control systems of the robot.According to cleaning robot’s mechanical structure, maneuverability, controldemand characteristics,the thesis designed the embedded control systems in detail,including: motor control system of the robot;information perception system of therobot; the customization of the WinCE operating system for the master controller ofthe robot; software designing for robot’s master controller;the communicationsoftware designing between robot and teleoperation terminal.The motor control system of the mobile cleaning robot consistant of motor formobile platform, motor for push rod, motor for base rotation, motor for the lead screw,motor for the high pressure water pump. This thesis, based on the common motorcontrol system, designed a motor control network based on CAN bus, and controlledthe motor using the CANopen protocol.The thesis researched the information perception system of the mobile cleaningrobot, the information perception system achieved to collect and process the signal ofthe ultrasonic sensor, the temperature sensor, the pressure sensor, and themicro-switch sensor. The thesis introduces the structure of the perceptual system, anddesigned a mobile cleaning multi-function data acquisition card based on PC/104busto collect the surrounding environment and state information of the robot,and themotor status information is collected via the CAN bus.The thesis researched the embedded control system software for mobile cleaningrobot,customized WinCE6.0operating system for the master controller, designedmulti-motor control software base on CAN bus, and designed the frame forteleoperation data transmission, the response mode of the teleoperation terminal.Through the optimal design of the embedded control system, the hardwarestructure of embedded control system of the mobile cleaning robot is optimized,themotor control system is more reasonable and compact, and the environment and statusinformation perceptual system optimized, the robot control performance is improved.