Intelligent Autonomous Robot Model for Selective Surface Cleaning

The paper presents an autonomous intelligent mobile robot for washing surfaces with a high-pressure liquid flow. There are structure, device and operation principle of a robot for selective cleaning of surfaces with a compact laminar jet and its main subsystems functionality considered. These subsystems consist of navigation subsystem in the conditions of additional objects presence in the room, subsystem of searching point or continuous contamination and determining their coordinates, control subsystems for the detergent flow by evaluation the rotation angles of the nozzle holders. Authors introduce the concept and solutions for direct and inverse task of positioning the end point of a fluid flow on a surface. The application of the Denavit-Hartenberg transformation and the parabolic kinematic law of fluid motion while flowing out of a point nozzle with a minimum spray angle is a base for the obtained direct task solution of positioning the end point of fluid flow on the treated surface. An algorithm for the inverse task solving of positioning the end point of a fluid flow on a surface is presented using Newton's numerical method for solving systems of nonlinear equations. There was constructed a model of the movement kinematics of a laminar fluid flow section in the MSC Adams environment. This article considers a mobile robot model, which makes it possible to simulate the dynamics of the robot's movement simultaneously with the movement kinematics of the jet cross section. The article noted advantages and prospects for further use of the proposed solutions in various industries.