Research And Design Of Swimming Pool Cleaning Robot

With the development of social economy and the improvement of people's living standards,the public has put forward higher requirements for cultural and recreational facilities.As a fitness exercise,swimming has been welcomed by more and more people.The swimming pool needs to be cleaned regularly.However,the traditional swimming pool cleaning method not only requires heavy physical labor,but also results in a great waste of water resources.Therefore,the swimming pool cleaning problem has gradually attracted the attention of the society.The research object of this paper—the swimming pool cleaning robot—is an efficient underwater cleaning equipment.This paper has studied the path planning and motion control of the swimming pool cleaning robot,and aims to realize the function of the swimming pool cleaning robot through the development of the embedded system.The main contents of the thesis include the following aspects:(1)Study the path planning of the swimming pool cleaning robot system.The grid map-based environment map construction method and the dead reckoning-based positioning method are selected to realize the SLAM problem based on EKF on the SLAM problem of synchronous positioning and map construction.In the traversal path planning of the pool cleaning robot,the inner spiral cleaning strategy is selected on the overall traversal mode,and the path planning based on the A* algorithm is used on the specific path planning algorithm.(2)Research on the motion control of the swimming pool cleaning robot system.The robot pose estimation motion model based on angle and distance measurement data is given.The mathematical model of the brushless DC motor that drives the robot motion is analyzed.The different PWM control modes are analyzed and compared.The speed and current double closed loop system and the PID algorithm are applied to the motor.control.(3)Design the pool cleaning robot system hardware and software according to the functional requirements of the pool cleaning robot.Using STM32F103 as the main controller,the overall design structure of the system hardware controller is proposed.The modular design idea is adopted,and each functional module is modularly designed to obtain a complete hardware circuit control system.The software part puts forward the overall design framework of the system software,hierarchically builds the program,and gradually discusses and analyzes the running process of the program from initialization to execution of each task,and adopts embedded real-time operating system to make the system more time-efficient.(4)Deploy experimental prototypes and design experimental tests.The structure of the swimming pool cleaning robot is divided into the specific design and layout of the cleaning subsystem,the walking subsystem and the control subsystem,as well as the design of the sealing system,and the research is embedded into the system hardware controller through the system software for experimental testing.Verify that the experimental platform is stable.In this paper,the self-developed swimming pool cleaning robot control system is used to complete the research and design of the swimming pool cleaning robot through the designed intelligent path planning algorithm combined with the corresponding sensor technology and motion control technology.