Research On Dynamic Model Of Two-wheeled Ladder Self-balancing Logistics Robot And Realization Of Intelligent Control System

Service robots are emerging intelligent systems that integrate multidisciplinary technologies such as mechanics,electronics,and computers.The current robotic walking mechanism can be mainly divided into three types:wheel type,leg type and track type.However,the single traveling mechanism has poor adaptability to the environment and cannot operate under non-structural environment(such as stairs).The traditional self-balancing robot MEMS Attitude measurement system is not reliable in dealing with non-structural environment,control system adaptability is poor;and current service ro-bots have insufficient ability to sense indoor environment.Aiming at the above problems,this paper proposes a two-wheeled ladder self-balancing logistics robot,through the design of the deformable wheeled traveling mechanism;the construction of the wheeled inverted pendulum dynamic model;the research of variable torque attitude control strategy;and based on ROS The laser SLAM position-ing and indoor navigation of the frame effectively overcome several key problems of indoor service robots.Starting from solving the problem of "end delivery" of logistics robots,the main contents of the thesis are as follows:(1)Research on the dynamic model of the ladder of the deformable wheel inverted pendulum.By analyzing the relationship between the required torque of the ladder and the physical parameters such as the mass of the robot,the centroid of the centroid and the radius of the wheel,the maximum height of the ordinary round wheel and the deformable wheel is studied,and the influence factors of the ladder are simulated and analyzed by using MATLAB.The results show that the maximum ladder height of the deformable wheeled traveling mechanism meets the national standard height of the stairs;then the force and the motion angle are decomposed and decomposed,and the dynamics of the robot ladder movement is modeled by pulling the Lange equation,and the robot drive system transfer func-tion is introduced.Simulink simulation analysis of the system is carried out.The simulation curve shows that the robot system is an unstable,nonlinear slope inverted pendulum system,which proves that the existing mechanical drive mechanism is not enough to realize the ladder.(2)The design of the bottom layer and upper layer intelligent control system based on ROS framework.The underlying attitude control scheme with variable torque and the upper laser SLAM positioning and indoor navigation scheme with ROS architecture are proposed.By comparing the constant torque with the constant power control,the control strategy of the torque loop instead of the speed loop is proposed,the power consumption of the components is reduced to realize the ladder,and the control strategy is verified by Simulink to have better stability in the non-structural environ-ment.The Google-Cartographer algorithm of SLAM framework is used to construct the global and local path planning to realize the autonomous positioning and navigation of the robot.The whole communication system is designed to realize the serial communication between the multi-sensor and the bottom layer,the bottom layer and the upper layer,and the PC host computer and The SecureShell network communication of the underlying control board controls the underlying motion by subscrib-ing to the ROS topic information published by each sensor of the robot.(3)Prototype "end-delivery" logistics robot prototype.Delivering tasks to the prototype robot,and performing deformation wheel calibration experiments;straight,ladder,and steering experiments in the building;indoor positioning and navigation experiments.The stability of the ladder is judged by the distance of the centroid offset;the passage of the ladder is judged by the deviation range of the landing point;the intelligence of the indoor positioning and navigation is judged by the intuitive SLAM map and the shortest delivery route.The experimental results show that the robot designed by the subject has certain environmental perception and terrain adaptive ability,which verifies the va-lidity of the theoretical analysis of the ladder,the rationality of the structural design and the scienti-ficity of the intelligent control system.