Design Of A Cleaning Robot Control System Based On Magnetic Nail Navigation

With the development of industrial automation,robots have become more and more widely used in scenarios such as agricultural planting and animal husbandry.Nowadays,in order to improve the production efficiency of animal husbandry,house-group raising has replaced the previous natural raising.Taking dairy cows as an example,they mainly live in cow houses.The dirt that stays on the ground of cow houses becomes a potential source of disease for cows and humans,which greatly affects the safety of human life and property.In order to adapt to changing application scenarios,robot navigation control technology is particularly important.This paper takes the cowshed as the scene and the cleaning robot as the research object.Based on the magnetic nail navigation algorithm,the design research of the entire control system of the cleaning robot is carried out.The main work is as follows:First,analyze the cleaning requirements of the cowshed,analyze the structure of the robot mobile platform and the chassis structure,and then design the overall scheme of the navigation system and the control system on the basis of the robot platform.Secondly,the navigation system of the cleaning robot is designed based on the magnetic nail array.First,the robot is modeled,and the two working scenarios of the dense magnetic nail array and the sparse magnetic nail array are respectively studied for navigation and positioning.Among them,the focus is on the navigation and positioning technology under the sparse magnetic nail array,and the INS/OD integrated navigation and laser ranging correction algorithm are introduced on the basis of the magnetic nail navigation,so as to realize the precise navigation and positioning of the cleaning robot under different density magnetic nail arrays.Then,based on the precise navigation system,the cleaning robot control system is designed based on the magnetic nail array.The fuzzy PID control algorithm is used to accurately control the wheel speed,and the model-estimated course control is introduced to solve the periodic lag problem of the course control.Introduce LQR and MPC methods for robot trajectory tracking control,and carry out plan comparison and simulation verification.Finally,based on the above-mentioned navigation algorithm and control law strategy,the robot field operation verification is carried out,and the robot has been successfully put into market use.