Design And Realization Of Factory Unmanned Sweeper

With the industrial structure adjustment,transformation and upgrading of China's sanitation industry,mobile robot technology gradually applied to a variety of cleaning equipment.Intelligent cleaning equipment can complete tasks independently from manual operation,improve cleaning efficiency,reduce labor costs,and reduce labor intensity.At present,for household sweeping robots for cleaning the home environment and the sweeping trucks for cleaning the road environment,the market is huge and the technology is relatively mature.However,for the factory environment,the main cleaning method is manual cleaning or driving sweeper cleaning,which has complex types of garbage and the cleaning area between the family and the road.Therefore,according to the operation requirements of the factory environment,this thesis designs the structure and control system of the Factory Unmanned Sweeper and realizes the trajectory tracking motion control of the sweeper mobile platform.This thesis consists of the following investigation and research:(1)Structural design and analysis of Factory Unmanned Sweeper.According to the working conditions of the sweeper in the factory environment,using the methods such as comparative optimization,modeling calculation and digital design,make the design and build 3D model for the core components,including the chassis configuration,wheel structure,driving structure,and cleaning device.Calculate the torque and power required for the drive and steering motors.Completed the structural design of the new Factory Unmanned Sweeper.As per the design,the kinematics and dynamics modeling of sweeper are carried out: the kinematics modeling based on the rigid-body pure rolling principle and nonlinear dynamic modeling based on Monorail model.(2)The design of the trajectory tracking controller of the Factory Unmanned Sweeper.In order to achieve the tracking of the planned trajectory of the sweeper,on the basis of the vehicle monorail model and the linear tire model,the vehicle dynamics model is linearized and discretized to obtain the prediction model,and the trajectory is designed in combination with the kinematic constraints and the optimization objective function Tracking controller.Using the vehicle dynamics simulation software Car Sim and the control system simulation software Matlab / Simulink as the platform,the trajectory tracking simulation experiment of the sweeper mobile platform is designed and carried out.Compared with the conventional PID algorithm controller,the controller designed in this thesis tracks the trajectory consumption time is shorter,and the error in the later period of tracking is smaller.Experimental results show that the designed controller meets the design requirements and can track various shapes of trajectories at different speeds.(3)Prototype production and control system test of Factory Unmanned Sweeper.Renovated the driving sweeper,carried out the trial production of the unmanned sweeper prototype,built the on-board electronic hardware structure,and selected the sweeper motor,main controller module,motion control module,working device control module,sensor module,power supply module Type,the control system proposed in this thesis is tested on the prototype manufactured,and the trajectory tracking motion accuracy test in the factory environment is carried out.The test results show that within the speed range required by the design,the movement of the prototype of the Factory Unmanned Sweeper is stable,and the tracking deviation rate of various trajectories are less than 5%.The structure of the factory unmanned sweeping vehicle designed in this thesis meets the design requirements in the factory environment.The trajectory tracking control system based on the model predictive controller is built to meet the control requirements.The test results of the prototype test show that it has certain practical application value.