Design And Research Of A Spiral Wheel Driven Sweeping Robot

Although the current market has improved the performance of sweeping robots after many iterations,the problems in walking performance and obstacle crossing still need to be solved.Based on this,this paper conducts a study on the optimization of the walking structure and obstacle crossing of sweeping robots,and the main research works are as follows.(1)The kinematics and dynamics analysis of the walking mechanism of the sweeping robot were carried out.After clarifying the functional and performance requirements of the walking mechanism of the sweeping robot,this paper designs a new walking mechanism that integrates sweeping and walking,and the new structure significantly improves the robot’s ability to cross obstacles on the basis of having the ground sweeping function.In addition,the kinematics and dynamics of the new walking mechanism are analyzed,and the kinematics model and dynamics model are established.(2)The path planning algorithm was optimized and the feasibility of the new algorithm was verified.The traditional A-star and Dynamic Window Approach(DWA)path planning algorithms were improved,and the combination of the improved A-star algorithm DWA algorithm effectively improved the path planning results.The new algorithm was simulated using MATLAB for dynamic obstacles and static obstacles in environments of different complexity respectively,and the feasibility of the new algorithm was verified.(3)The control system of the sweeping robot was built.The control system of the sweeping robot was designed according to the theoretical basis of motion model and map-building navigation,and the design of the robot motion control method was completed.Using JETSON NANO as the core master control,Free RTOS real-time operating system with stm32F407 control board to complete the robot’s motion ground control,using Linux operating system combined with ROS robot operating system to complete the robot’s map building and path planning.(4)The experimental tests of robot motion performance,navigation effect,obstacle crossing effect and sweeping effect were completed.The robot was tested in various walking tests and obstacle crossing tests,and the robot performed smoothly with a maximum height of 3 cm for step-type obstacles and 4 cm for slope-type obstacles.The feasibility of the new algorithm combined with DWA path planning was verified.In the localization experiments,the robot’s localization errors were all less than5 cm,which met the design requirements.The trajectories of the robot in the dynamic obstacle avoidance experiments are natural and smooth,which verifies the practicality of the improved DWA algorithm.