【作者】 蒋勇；

【导师】 陶卫军； 梁红军；

【作者基本信息】 南京理工大学 ， 机械工程（专业学位）， 2018， 硕士

【摘要】 地面清洁机器人是服务机器人领域的研究热点之一。目前,已有很多地面清洁机器人样机和产品问世,但这些清洁机器人主要是用于处理地面灰尘,难以除去地面上存在污渍与印迹。特别是在一些公共区域的瓷砖地面,包括车站、地铁站与广场等场合,容易在雨水与大量行人通过的时候,在地面残留一些污渍与印迹,非常必要针对性开发具有擦洗地面污渍与印迹功能的地面清洁机器人。要开发具有擦洗地面功能的地面清洁机器人,需要解决供水、清洁地面与回收污水的难题,具有一定的挑战性。本论文中,设计并制作了一种具有擦洗地面功能的地面清洁机器人,对相关的关键技术进行了研究与分析。首先,在对地面清洁机器人的国内外现状进行分析总结的基础上,确定了所要开发的地面清洁机器人的功能需求,提出了机器人的总体设计方案。在此基础上,对地面清洁机器人机械结构进行设计,完成了机器人移动机构、本体结构、清扫机构、污水回收机构的三维设计。从实现机器人功能出发,制作了相应的控制电路,并搭建了机器人控制硬件系统,实现了机器人本体的前进、后退以及转向、清洗刷旋转以及污水回收的驱动与控制功能。进一步,从机器人实现地面清洁的要求出发,对机器人在运行过程中的避障方法进行了研究,设计了基于红外避障传感器与碰撞传感器的避障功能模块。综合所开发的地面清洁机器人的硬件与软件进行联调,实现了机器人的清扫、污水回收、避障等基本功能;采用用栅格法完成清洁区域的环境建模,对新型地面清洁器人运动路径进行规划与仿真;对不同路径下地面清洁机器人清扫过程中的覆盖率、重复率进行了分析和比较,通过仿真对所给出的路径规划方法进行了验证。然后,对地面清洁机器人的自主充电技术进行了分析,设计了一套用于此地面清洁机器人的自主充电系统。通过对机器人电量实时监控,并在其电量降低到设定值时具备自主充电功能。最后,对所作的研究工作进行了总结与展望,明确了后续进一步研究的方向。更多还原

【Abstract】 The ground cleaning robot is one of the research hotspots in the field of service robot.At present,there are many prototypes and products of ground cleaning robots,but these cleaning robots are mainly used to deal with ground dust,and so it is difficult to remove the dirt and imprinting on the ground.Especially on the tile floors of some public areas,such as railway stations,subway stations and public squares.Some stains and imprints will remain on the ground when it rains and a large number of pedestrians pass.In view of this,it is necessary to develop a cleaning robot with the function of scrubbing dirt and imprinting on the ground.It is a challenging to develop a ground cleaning robot with the function of scrubbing the ground,which needs to solve the problems of water supply,cleaning the ground and recovering sewage.In this paper,a kind of ground cleaning robot with the function of scrubbing the ground was designed and manufactured,and the related key technologies were studied and analyzed.Firstly,based on the analysis and summary of the present situation of the ground cleaning robot at home and abroad,the functional requirements of the ground cleaning robot are determined,and the overall design scheme of the robot was proposed.On this basis,the mechanical structure of the ground cleaning robot was designed,including the 3D design of the robot mobile mechanism,the body structure,the cleaning mechanism and the sewage recovery mechanism.In order to realize the function of robot,the corresponding control circuit was made,and the hardware system of robot control was built.Based on this,the driving and controlling functions of the robot body,such as forward,backward and steering,cleaning brush rotation and sewage recovery was realized.Furthermore,according to the requirement of robot,the obstacle avoidance method of robot in operation was studied,and the obstacle avoidance function module based on infrared obstacle avoidance sensor and collision sensor was designed.The hardware and software of the ground cleaning robot was integrated to realize the basic functions of the robot,such as cleaning,sewage recovery,obstacle avoidance and so on.The environmental modeling of the clean area was completed by using grid method.And then,the movement path of this new type of ground cleaner was planned and simulated,and the coverage and repetition rate in the cleaning process of the ground cleaning robot under different paths was analyzed and compared.By the simulation,the validity of proposed path planning method was verified.Then,the autonomous charging technology of the ground cleaning robot was analyzed,and a set of autonomous charging system for the ground cleaning robot was designed.By real-time monitoring of the power of the robot,it has the function of self-charging when its power is reduced to a set value.Finally,the research work was summarized and prospected,and the direction of further research was clarified.更多还原