Design Of Its Tructure And Control System Of A Floor Cleaning Robot

The ground cleaning robot is one of the research hotspots in the field of service robot.At present,there are many prototypes and products of ground cleaning robots,but these cleaning robots are mainly used to deal with ground dust,and so it is difficult to remove the dirt and imprinting on the ground.Especially on the tile floors of some public areas,such as railway stations,subway stations and public squares.Some stains and imprints will remain on the ground when it rains and a large number of pedestrians pass.In view of this,it is necessary to develop a cleaning robot with the function of scrubbing dirt and imprinting on the ground.It is a challenging to develop a ground cleaning robot with the function of scrubbing the ground,which needs to solve the problems of water supply,cleaning the ground and recovering sewage.In this paper,a kind of ground cleaning robot with the function of scrubbing the ground was designed and manufactured,and the related key technologies were studied and analyzed.Firstly,based on the analysis and summary of the present situation of the ground cleaning robot at home and abroad,the functional requirements of the ground cleaning robot are determined,and the overall design scheme of the robot was proposed.On this basis,the mechanical structure of the ground cleaning robot was designed,including the 3D design of the robot mobile mechanism,the body structure,the cleaning mechanism and the sewage recovery mechanism.In order to realize the function of robot,the corresponding control circuit was made,and the hardware system of robot control was built.Based on this,the driving and controlling functions of the robot body,such as forward,backward and steering,cleaning brush rotation and sewage recovery was realized.Furthermore,according to the requirement of robot,the obstacle avoidance method of robot in operation was studied,and the obstacle avoidance function module based on infrared obstacle avoidance sensor and collision sensor was designed.The hardware and software of the ground cleaning robot was integrated to realize the basic functions of the robot,such as cleaning,sewage recovery,obstacle avoidance and so on.The environmental modeling of the clean area was completed by using grid method.And then,the movement path of this new type of ground cleaner was planned and simulated,and the coverage and repetition rate in the cleaning process of the ground cleaning robot under different paths was analyzed and compared.By the simulation,the validity of proposed path planning method was verified.Then,the autonomous charging technology of the ground cleaning robot was analyzed,and a set of autonomous charging system for the ground cleaning robot was designed.By real-time monitoring of the power of the robot,it has the function of self-charging when its power is reduced to a set value.Finally,the research work was summarized and prospected,and the direction of further research was clarified.