A Design Of Intelligent Cleaning Vehicle For Large Public Area

In the station,supermarket,public service hall and other areas,manned cleaning vehicles are widely used.But for the public area of large area,there are no self-cleaning intelligent cleaning vehicles in the market.This paper is based on the household intelligent cleaning robot for intelligent cleaning vehicle for large area environment is researched.A theoretical and experimental study is researched about three key issues for the cleaning vehicle,the obstacle avoidance,the navigation and map construction.A design of intelligent cleaning vehicle was presented.And a hardware platform was built.The cleaning vehicle can work autonomously.Firstly,the needs of the clean vehicle are analyzed.The design of the whole project is on the basis of this,including driving and walking mechanism and a cleaning mechanism,sensing system and control system.All kinds of hardware are selected and software control is realized.Secondly,In order to solve the cleaning vehicle obstacle avoidance problem,the common methods of obstacle avoidance is introduced,and the fuzzy control theory is chosen for cleaning vehicle obstacle avoidance control.Combined with the experiments,the fuzzy control rules are designed,to achieve the cleaning vehicle obstacle avoidance function.The modeling and analysis of the cleaning vehicleis carried out,and the motion of the vehicle is simulated by the rigid body in the plane motion.So,the kinematic model is built,and prepared for positioning and navigation.A grid method is proposed to build the environment map.In order to achieve the traversal in unknown environment,the vehicle uses a crisscross ridge type path scheme to walk in the environment.In order to solve the error of the map,a method of multi map overlay is proposed.According to the map area,it is divided into the same area of superposition and different area expansion in two cases.MATLAB tools are used to achieve the map overlay.Using the walking information of environment with cleaning vehicle,dead reckoning method and map construction algorithm work well.Finally,a hardware platform is built according to the design scheme.Various types of sensor module test,cleaning vehicle obstacle avoidance experiment,dead reckoning method experiment are conducted.Experimental map is built.The experimental results indicate the methods are fine.