Research On Control System Of Non-contact Car Washer With Two Degrees Of Freedom Manipulator

With the rapid development of society,the number of cars is increasing.Car washing is a part of car maintenance.More and more people are paying attention to car washing.Traditional manual car washing requires a lot of human resources,and gives a shortage of water resources and low efficiency of car washing.This dissertation presents a two-degree-of-freedom robotic armless contactless car washing machine control system,which has a small footprint and high cleaning efficiency.This dissertation first analyzes the functional requirements of automatic car washers,proposes a system plan for automatic car washers,and overall design of the system structure,introduces the workflow of the system,analyzes several key issues such as vehicle position detection,operation status distinction,and so on.Several solutions are given.The two-degree-of-freedom manipulator model is constructed and simulated after the overall plan is determined.The control algorithm is given.The simulation results are obtained based on the theory.The simulation results are analyzed and the feasibility of the scheme is verified.Give the hardware design of the robotic arm system,hardware selection and hardware connection of the control system,detection part,drive part and human-computer interaction part of the vehicle washing machine are selected.Delta DVP10MC11T motion controller is selected as the controller of the system.Delta Delta ASDA-A2 servo system is selected as the system's drive system,and the UC4000-30GM-IUR2-V15 ultrasonic sensor is selected for position detection.Delta DOP-B07S410 is selected as human-machine interaction.Then,the software program of the automatic car washing machine control system is designed.The main program of the system,the status judgment program,the function and status selection program,the flow of the cleaning control program and the flow chart of the operation status display program are introduced.And given part of the program.Finally,on-site debugging was performed to verify the effectiveness of the design scheme.