Research On Dust Removal System Of Textile Mill Based On Air-ground Robots Cooperation

With the progress of modern textile technology and the growing scale of the production line,the textile industry requirements for the environment is increasing for the environment.As we all know,the textile industry is a highly polluting process.The different processes of production and equipment processing will produce a lot of dust.If the textile factory does not take measures to clear dust,the dust and dusty air will be widely spread,which will serious pollute the workshop and the surrounding environment,directly harm the health of workers and affect the quality of product.The dust concentration of our textile production workshop average in 2.0mg/m3 below,but in the process of cleaning,handing and storage,some of the dust that has not be cleared up is spread again under the external forces.It caused the secondary damage for the equipment and workers.The objective factor has become a major constraint of textile technology to the further improvement.According to the above situation,in order to solve the problem of secondary pollution caused by cleaning robot in the textile workshops,a dust removal system based on the combination of the Air-ground robots is designed to reduce the local dust concentration of the textile mill.The system uses the "ground-air" model,The air and ground two types of robots composed of heterogeneous mobile robot collaboration system,and through information sharing and behavior coordination,to achieve the organic combination of each other.The ground cleaning robot completes the cleaning of the ground dust,and the four rotor-craft with the dust removal device removes the dust that spreads into the air,thus reducing the concentration of dust in the local area.In this paper,the cleaning robot acted as the main dust collector,the four rotor-craft with dust removal device for the side dust collector.In order to meet the requirements of system operation,the hardware structure of the main dust collector and the secondary dust collector,the selection scheme of the chip are designed.In order to realize the information sharing and behavior coordination among the vacant robots,the cooperation platform of the dust removal system is build.In the movement planning,the problem of sports planning is divided into two stages.The first stage,the preparation phase.Through the kinematics analysis of the main dust collector and the air side dust collector,the cubic spline is introduced to track the trajectories of the cleaning robot.At the same time,select the heading and position of the four rotor-craft as the control variable,use the Hamiltonian and Euler-Lagrangian equations to generate the optimal solution,and design the best trajectory controller to realize he best track planning.The second stage,the dust removal stage.After the dust removal task starts,Four-rotor aircraft flying at a constant height,with floor-cleaning robot to maintain a certain level of distance.Under the action of the tracking controller,the track of the floor-cleaning robot is tracked,and the side dust collector cooperates with the floor-clearing robot to complete the task.According to the requirements and basic conditions of the four-rotor-craft to track the ground moving target,the target tracking controller is designed by the second method of Lyapunov.Finally,the tracking control problem of the four-rotor-craft tracking ground cleaning robot is simulated by MATLAB.The simulation results show that the air side dust collector can effectively track the trajectory of the main dust collector and assist the main dust collector to complete the dust removal operation.