Development Of Robot Mobile Platform For Outdoor Work

With the development of robotics,cleaning robots have gradually entered people's daily lives.The cleaning robot can replace the manual cleaning work,liberate the labor force and improve the cleaning efficiency.At present,road sweepers and sweeping robots for outdoor cleaning and indoor cleaning are relatively mature,but there are still some areas where the above two products cannot work in the field of cleaning and sanitation,such as our common parking lot and both sides of urban roads where the area between the parking spaces.The environmental cleanliness in the region is currently mainly dependent on manpower,which is time-consuming and labor-intensive and has low cleaning efficiency.Therefore,in view of the current situation of sanitation cleaning at home and abroad,this topic proposes to develop a robot mobile platform for outdoor cleaning operations.The main work of this paper is:Firstly,according to the actual needs of the subject,the design index of the robot mobile platform is proposed,and the configuration scheme of the cleaning robot mobile platform is designed.According to the configuration design scheme,through the theoretical analysis and calculation,the design and selection of the core components of the cleaning robot mobile platform are carried out.Secondly,the kinematics modeling of the designed robot mobile platform is carried out to establish the relationship between the speed of the robot moving platform and the speed of each wheel.Perform simulation experiments on the platform to verify the accuracy of the kinematics model.The construction of the robot control system mainly includes the selection of the hardware,and on the basis of the software architecture design.Finally,outdoor experiments were carried out on the designed cleaning robot mobile platform,including basic motion experiments,precision test experiments and functional experiments.The experimental results show that the designed robot mobile platform can meet the design requirements of the subject,and can clean the garbage in the area between the parking spaces.