Design And Research Of Solar Energy Elderly Care Robot

The seventh national population census shows that by 2020,China’s elderly population aged 60 and above has reached 264 million,accounting for 18.7%of the total population.The aging degree in China has entered an accelerated stage,and medical care for the disabled elderly has become the focus of social attention.With the vigorous development of artificial intelligence in the digital era,intelligent and healthy elderly care robots have become the future development trend.At present,there is little research on elderly care robots that use anthropomorphic mechanical arms to achieve personal hygiene wiping and cleaning functions,and most elderly care robots have problems such as expensive prices,difficult popularization,single power supply mode,short working hours,etc.The thesis designs a solar elderly care robot based on flexible CIGS thin film.The research work is mainly carried out from the following aspects:（1）Taking the mobile chassis as the research object.Firstly,the environment mapping is realized by using the Gmapping algorithm,the real-time position and pose information of the mobile robot is obtained by using the AMCL positioning algorithm,the global route planning is realized by using the improved A*algorithm,and the local path planning is realized by using the DWA algorithm,realizing the autonomous navigation and obstacle avoidance functions of the mobile chassis.（2）Taking the robot arm as the research object.Firstly,the image is preprocessed to reduce the interference for the extraction of image feature points;The SURF template matching method based on feature points is adopted to achieve accurate recognition of target objects;Finally,the positioning algorithm based on point cloud is adopted to achieve accurate positioning of the target object.Then the D-H modeling method is studied to model the kinematics of the manipulator,and then the forward kinematics and inverse kinematics of the manipulator are analyzed.The RRT algorithm is used to realize the optimal motion path planning of the manipulator;The repetitive motion scheme based on quadratic programming is adopted to realize the repetitive motion of the manipulator.Finally,a new flexible silicone mechanical claw with pressure feedback module is used to ensure the safety and comfort of users.（3）Taking photovoltaic power generation system as the research object.First,Nb⁵⁺doped NCM811 cathode material was prepared at 800℃.Then,with the lithium battery as the secondary power supply,CIGS thin film solar cell and lithium battery dual power supply system are adopted,which significantly extends the working time of the robot.Finally,the automatic folding and unfolding device of photovoltaic modules is designed to realize the functions of timing folding and automatic photosensitive folding of photovoltaic modules.At last,taking the mobile chassis and the robot arm as a whole as the research object,the URDF model and simulation environment of the two are first established,and the simulation experiments of path planning and object grasping are realized.Then,the physical assembly of the elderly care robot is completed.The results of many experiments,tests and analyses show that this design can fully realize the functions of precise positioning,autonomous navigation and obstacle avoidance,stable grasping of objects,and repetitive movement of the robot arm.