Research On Path Planning Of Indoor Putty Wall Autonomous Polishing Robot

Indoor putty wall polishing is a hard work in the construction and decoration industry.Under the pressure of the gradual disappearance of the demographic dividend,it is a feasible scheme to introduce the robot into the construction and decoration industry to solve the indoor putty wall polishing.In this paper,an indoor putty wall autonomous polishing robot is designed,and its moving path and polishing path are planned and studied.Traditional grinding robots are fixed on the base or installed on the guide rail,so their mobility is not high and their working area is limited.In view of the need of indoor wall putty layer polishing robot to have large activity range and high mobility,a four-wheel polishing robot mobile platform based on mcnamu wheel is designed,the structure of mcnamu wheel is analyzed,the forward and inverse kinematics of mcnamu four-wheel mobile platform are analyzed,and the inverse kinematics formula of four-wheel mobile platform is obtained,The inverse kinematics model is established in Simulink software,and finally the forward kinematics is verified in vrep(virtual robot experiment platform).The results show that the mcnamu wheel mobile platform can fully improve the range of motion and mobility of the grinding robot.Ant colony algorithm is one of the widely used algorithms in robot path planning.The indoor map is rasterized to obtain the grid map.The traditional ant colony path planning based on grid map has the problems of many path nodes and many turns.This paper improves the ant colony algorithm and uses MATLAB to simulate and analyze the improved ant colony algorithm.The results show that,The improved ant colony algorithm can effectively find the shortest path.The standard D-H method is used to determine the structural parameters of the mechanical arm of the grinding robot,establish the kinematics equation of the mechanical arm,and use the robotics toolbox to build the mechanical arm model to obtain the point cloud diagram of the reachable workspace of the mechanical arm,which provides a theoretical basis for the control and path planning of the subsequent mechanical arm.Based on the point cloud data of indoor putty layer wall obtained by three-dimensional laser scanning technology,an autonomous grinding path planning method of grinding robot in the area to be polished is proposed.Firstly,calculate the point normal vector of the sampled point cloud data,classify the point cloud with the same direction of the normal vector into the same data set,cluster each point cloud data set with DBSCAN algorithm,and fit the classified point cloud data with the least square plane with RANSAC algorithm to obtain the wall area,its reference plane and the corresponding normal vector.Secondly,the obtained reference plane is divided into the area to be polished,the optimal grinding points are obtained by DBSCAN-PGP(pick up the grinding points)optimization algorithm,and the simulated annealing(SA)algorithm is used to optimize the path.The simulation experiment shows that the output grinding path can better ensure that the area to be polished is not missed and the grinding area is fully covered.