Research On Control System Of Indoor Floor-Cleaning Robots

With the outbreak of the industry in recent years,floor-cleaning robots are transitioning to mandatory consumer products.After more than 20 years of development,the floor-cleaning robot has gradually become intelligent from a single function and low efficiency,but there are still problems such as missing sweeps,repeated sweeps,and easy jams.This paper focuses on the control system of indoor floor cleaning robots,and uses theoretical analysis,simulation experiments,and physical experiments to conduct research on key technical issues such as cleaning mechanism and cleaning system,path following,complete coverage path planning,and task planning.The main research of the paper is as follows:(1)Review the research status of domestic and foreign floor-cleaning robots and their key technologies,systematically introduce the functional modules of floor cleaning robots,design the architecture of the robot control system,analyze the motion mode of the floor cleaning robots,and establish kinematic models;based on the ideal surface Adhesion mechanics model,establish an indoor floor dust particle adhesion model,and analyze its cleaning mechanism,and design the cleaning mode accordingly;design the floor cleaning robot low space cleaning process,and experimentally verify the floor dust cleaning and low space cleaning.(2)For the robot path following problem,design a distance error model and an angular deviation model,build the entire control system model under Simulink based on the classic PID control method,and implement the interaction between the controller and the simulated robot under gazebo through MATLAB and ROS communication to verify the controller.In order to further improve the scope of application of the controller and improve the control performance at the same time,fuzzy PID control method is used to design fuzzy rules to realize the path following control of the floor-cleaning robot.The controller model is built under Simulink and simulation experiments are performed.(3)Design a complete-coverage path planning algorithm flow,and perform algorithm design and programming for the sub-area division,sub-area traversal order solution,sub-area internal traversal method,and sub-area connection path planning.Integrate and implement a random grid map Simulation.Establish a grid map of the actual environment,and perform physical experiments on the inward spiral traversal of the sub-region.(4)Design the entire workflow of the indoor floor cleaning robot,use the finite state machine method to construct the sub-area navigation,cleaning,mopping,power monitoring and other states,and then build the entire robot working state machine through state combination nesting.The task planning experiment is carried out under ROS to realize the orderly execution of the entire indoor cleaning task of the robot.