Research And Design Of Car Cleaning Robot Control System

Research on related technologies of intelligent robots has become a hot topic in the world,and related products and technologies have gradually matured.However,there is no mature and feasible solution for robot research on automobile cleaning work on the market.The research and development of intelligent car wash robot can effectively improve the vehicle cleaning efficiency,reduce the manpower investment of car wash,reduce the cleaning cost,and have greater economic driving value for the car washing industry.This paper studies the intelligent car wash scheme research and development at home and abroad.On this basis,the car cleaning robot control system is designed.The STM32F407ZET6 chip is used as the embedded main controller.The servo driver based on Profinet communication protocol is selected to drive the AC servo motor.The multi-degree-of-freedom manipulator is operated,the upper machine controls the monocular depth sensor to collect the vehicle silhouette point cloud information,and the point cloud registration is generated to generate a complete contour point cloud model,and the point cloud data is parsed and sent to the lower computer to realize the mechanical arm.The end can be positioned with high precision on the contour of the car and cleaned outside the car.The main tasks described in this article include the following:1.Learn high-level technologies and solutions for industrial robots at home and abroad.Complete the selection and purchase of servo motors,drives,cables,controllers and other equipment for robot systems,complete the production of electrical control cabinets,and build an experimental platform.2.Learn to master the theoretical basis of robot kinematics,write the program in Matlab software,establish the motion model of multi-degree-of-freedom manipulator,and solve the forward and inverse solutions of kinematics equations.Calculate the pose of the coordinate system fixed by the end tool according to the joint angle variables of the arm,obtain the desired pose of the end cleaning device,and solve the rotation angle value of each motor of the arm.3.The driver communicates via Profinet bus,uses STM32 microprocessor to realize the hardware circuit design through FSMC external expansion COMX communication module,completes the protocol stack configuration of the lower computer and communication module,and sends Siemens 111 message to speed and position control the motor.4.Develop the communication protocol between the upper and lower machines.The lower computer receives the control frame sent by the upper computer,performs servo control on each axis motor of the robot arm,and the upper computer receives the corresponding frame returned by the lower computer to obtain the real-time angle value of the motor encoder feedback.To realize the monitoring function of the robot arm.5.Based on the point cloud data processing technology,using a monocular depth sensor based on a small number of point cloud sample data,a high-speed registration algorithm is developed to generate a high-precision three-dimensional digital model of the vehicle contour,using robot kinematics.Theory,establish the "hand-eye system" model of the robot arm and depth sensor,transform the vehicle contour data into the world coordinate system of the manipulator,and realize the precise positioning of the three-dimensional digital model.6.Set up the car wash robot experimental platform to test whether the functions of the embedded controller and the host computer software are running normally.