Research On Path Planning And Control System Of One-sided Window-cleaning Robot

In recent years,with the progress of society and the development of science and technology,intelligent home robots have been greatly developed,providing more convenience for the people's lives.The household window cleaning robot can automatically clean the household glass,help people finish the glass cleaning and solve the problem of household glass difficult to clean in high-rise buildings.It has become one of the research hotspots of household intelligent robots.This thesis summarizes the development and technical characteristics of window cleaning robots at home and abroad through extensive research and related literature and forms its own technical scheme.It also discusses the core technical issues such as control system,control strategy and so on.The research results in this thesis are as follows:1)Aiming at the adsorption and walking problems of single-side window-cleaning robot,a structure of permanent magnet wheel-type window-cleaning robot is designed.According to the structure characteristics,the distribution of magnets and magnetic force is simulated by using simulation software,and the mechanical model of the robot body is analyzed,thus forming the ontology structure of single-side window-cleaning robot for household use.2)Taking STM32F103 microprocessor as the control core,and aiming at the key technical requirements of driving,rubbing,remote control,posture and so on,relevant design and research are carried out.The control system scheme is formed by using the modular design idea of high cohesion and low coupling,and the relevant important parameters are analyzed and explained.A control system with low energy consumption,low cost,high reliability and satisfying requirements is designed,and the software programs of each module are designed.3)Aiming at the random disturbance signal generated by the robot body in the process of motion,the Kalman filter algorithm is used to construct the filter function model,which improves the input accuracy of the angle sensor and the position and attitude control accuracy of the robot body.Through the analysis and comparison of the multi-mode control and the PID control algorithm,combined with the constraints of the working area and position and posture of the robot,etc.A path planning strategy based on multi-mode control is established.The simulation results show that the strategy has high response speed and high efficiency.4)The solid prototype of one-sided window cleaning robot is built,and the related research problems are verified by the solid prototype.The experiments show that the motion of each module of the robot is normal,the motion performance and cleaning performance meet the requirements of window cleaning,and the experiment proves that the multi-modal control has the ability of trajectory optimization compared with the PID control.