毕业设计(论文)课题名称基于Webots软件扫地机器人的研究与设计学院电气工程学院专业自动化班级学号姓名指导老师二〇一七年五月摘要摘要扫地机器人在人们的日常生活中发挥着重要作用,在许多人的家里,经常有个小巧灵活的身影,穿梭在各个房间里,它经过的地面都被打扫的干干净净。扫地机器人是凭借着一定人工智能自动完成室内地板清洁工作的智能家电用电器,目前主流的扫地机器人主要是通过机内高速运转的电动机在主机内形成一个类真空环境,利用由此产生的高速气流将垃圾吸入集尘盒,从而完成清洁工作。仿真技术在机器人的设计研究中有着不可忽视的作用,它可以改善机器人的机构质量和对机器人的运动性能进行分析。在仿真软件上对机器人进行研究有以下优点:研究成本低、研发周期短,方便修正,可以监控机器人运行中的各种参数和运动状态。本设计在Webots仿真平台上对扫地机器人进行设计。设计的扫地机器人应能能实现以下技术指标:能够实现灰尘识别,实现多种清扫模式,具有防跌落、防撞、自动返回充电等功能,能够进行电量低、尘盒满等信息提示。设计的过程如下:首先为机器人搭建一个环境,模拟一个房间,内有各种家具;然后构造机器人的身体,身体是扁平的圆柱体,移动机构是三轮式,有可实现防碰撞和防跌落等功能的传感器,接着给器件设置参数,最后给机器人创建一个控制器作为机器人的控制系统。最后,本设计完成之后,经过仿真运行,基本能实现扫地功能,并且不会碰上障碍物和跌落。同时分析了设计的机器人的不足之处,以及在未来的研究中该扫地机器人还可以继续改进的地方和可能增加的功能。关键词:扫地机器人仿真技术WebotsiABSTRACTResearchandDesignofSweepingRobotBasedonWebotsSoftwareABSTRACTSweepingrobotsplayanimportantroleinpeople'sdailylives.Inmanypeople'shomes,thereisoftenasmall,flexiblefigurethattravelsthroughtheroomsandissweptthroughtheground.Sweptroboticrobotisbyvirtueofacertainartificialintelligencetoautomaticallycompletetheindoorfloorcleaningsmarthomeappliances,thecurrentmainstreamofthesweepingrobotismainlythroughthemachinerunninghigh-speedmotorinthehosttoformavacuum-likeenvironment,theuseoftheresultinghigh-speedairThegarbageissuckedintothedustbox,thuscompletingthecleaningwork.Simulationtechnologycannotbeneglectedinthedesignofrobotdesign.Itcanimprovethequalityoftherobotandanalyzethemotionperformanceoftherobot.Theresearchontherobotinthesimulationsoftwarehasthefollowingadvantages:lowresearchcost,shortresearchanddevelopmentcycle,easytocorrect,canmonitortherobotrunningavarietyofparametersandmovementstate.ThisdesignisdesignedontheWebsitesimulationplatformforsweepingrobots.Thedesignofthesweepingrobotshouldbeabletoachievethefollowingtechnicalindicators:toachievedustrecognition,toachieveavarietyofcleaningmode,withanti-drop,anti-collision,automaticreturnchargingandotherfunctions,tolowpower,dustboxfullinformationtips.Thedesignprocessisasfollows:firstfortherobottobuildanenvironment,simulatearoom,thereareavarietyoffurniture;andthenconstructtherobot'sbody,thebodyisaflatcylinder,mobilebodyisthree-wheeled,canachieveanti-collisionandanti-Andthensettheparameterstothedevice,andfinallytotherobottocreateacontrollerasarobotcontrolsystem.Finally,afterthecompletionofthisdesign,afterthesimulationrun,thebasicabilitytoachievesweepingfunction,andwillnotrunintoobstaclesandfall.Atthesametime,itanalyzestheshortcomingsofthedesignoftherobot,andinthefuturestudyofthesweepingrobotcancontinuetoimprovethelocalandmayincreasethefunction.KEYWORDS:Sweepingrobot;SimulationTechnology;Webotsii目录目录摘要...............................................................................................................