System Design Of Wheel-arm Combined Ground Cleaning Robot

Cleaning robots can help people finish cleaning and mopping the ground.The structure and function of cleaning robots in domestic and foreign are similar.As an emerging service robot,the key technologies such as mechanism,control technology,sensor technology,obstacle avoidance and path planning have become the current research hotspots.The main research contents of this thesis are as follows:(1)The research status of cleaning robots and wheel-arm combined robots in domestic and foreign is reviewed.The key technologies of cleaning robots are analyzed.Based on the existing research work,a multi-functional cleaning robot is designed,which can realize automatic updating of rag and clean low space,and integrates dust absorption,dry and wet mopping.(2)To solve the problem of frequent replacement of rags by existing cleaning robots,changing the way of installing and replacing rags,using non-woven fabrics with good water absorption to reduce the replacement frequency of rag;designing a telescopic arm in the chassis for the problem that the low space cannot be cleaned;designing two water tanks respectively,to provide clean water and detergent solution,the supply can be set according to the speed of the mopping floor and the cleanliness of the ground,that is,the setting of the cleaning mode.(3)The hardware system of the cleaning robot is built,and the design,selection and testing of the driving motor,encoder,industrial computer,controller,obstacle avoidance sensor,human-computer interaction module and power supply module in the hardware system are carried out;The mechanism and motion performance are analyzed,and the robot kinematics and dynamics model are established.The drive system with PWM control and L298N driver board is designed.The digital PID control algorithm is applied to the motion control to form a speed closed-loop control system.(4)By reasonably selecting the number and distribution of ultrasonic sensors to achieve contactless obstacle avoidance,a fuzzy obstacle avoidance method based on ultrasonic sensor HC-SR04 is designed;the walking route is set by comparing the cleaning paths.Based on the walking process,the orientation information of the ultrasonic wave and the distance information of the obstacle are measured as the input of the fuzzy controller.The motion direction of the robot is obtained through fuzzy reasoning,and obstacle avoidance walking with different obstacle types in different directions is realized.(5)The prototype of cleaning robot is processed,the software system architecture is built,the connection between ROS and other devices is configured,and the humanized functions such as mobile phone APP and voice interaction are integrated.A method of detecting stains by monocular camera through contrast of gray images on the ground is proposed,and the effectiveness of stain recognition is verified by experiments.The cleaning and mopping experiments are carried out to verify that cleaning effect can meet the demand the indoor floor cleaning standard;through the low space cleaning experiment,the chassis arm can clean the low space of 5 cm high;through the obstacle avoidance experiment,the feasibility of the robot obstacle avoidance scheme is verified.