Study On Solar-powered Logistics Robot With Stair-climbing Function

With the rapid development of e-commerce,the "last mile" problem of the express logistics industry is becoming more and more prominent.Therefore,logistics robots have emerged.However,the current logistics robot mainly realizes the delivery of outdoor sections.To reduce or replace the work of couriers,logistics robots are first to realize the stair-climbing function so that they can enter the indoor environment and provide the home delivery service for customers.Therefore,this research focuses on the realization of the robot’s stair-climbing function,and introduces solar cells into the power system of the robot,making full use of the advantages of new energy,which can not only improve the robot’s endurance but also actively respond to the national development strategy of "carbon neutrality" and "peaking carbon dioxide emissions".Based on these two points,this thesis has carried out the research on the solar-powered logistics robot with stair-climbing function,and the main research contents are as follows:At first,this thesis conducts research on the robot’s stair-climbing mechanical structure.Aiming at the problem that the existing stair-climbing mechanical structure of logistics robot can not take into account the stair-climbing ability,movement efficiency on the ground,and control simplicity at the same time,this thesis proposes a decoupled composite wheel-legged stair-climbing mechanical structure,which can provide the robot with the stair-climbing ability and movement efficiency on the ground.Besides,because of decoupled structure,the decoupling of horizontal and vertical motion in the stair-climbing process is realized.Next,this thesis carries out a specific size design for the robot’s mechanical structure and produces an experimental prototype for the verification of the stair-climbing control strategy.Then,this thesis conducts research on a hybrid solar power system for the logistics robot.Logistics robots mainly operate in an outdoor environment,so solar panel is used as the auxiliary power source of the system,and the configuration and topology of the hybrid power system are designed.At the same time,corresponding energy management strategies are introduced to allocate power reasonably.Moreover,in view of the fast light-and-shade alternation law of the lighting conditions during the robot’s movement,this thesis proposes a maximum power point tracking(MPPT)algorithm suitable for the fast light-and-shade alternation,which improves the tracking speed and the collection efficiency and has been verified by simulation.Finally,a stair-climbing control strategy based on finite state machine is proposed.In view of the repeatability and discontinuity of the staircase,based on the decoupling of the climbing movement,finite state machine is applied to the modeling of the robot’s climbing process,and several basic states of the climbing process are obtained.Then,based on the state transition process in the process of climbing process of stairs with different steps,the state transition law function of the climbing process is summarized,which greatly simplifies the robot’s stair-climbing control.Finally,the strategy is verified on the experimental prototype,and the robot’s stair-climbing function is realized.