Complete Cover Research And Design Of GD-1Cleaning Robot

The path planning of cleaning robot is an important subject in the field of mobile robot research. The path-plan of cleaning robot integrates with a variety of key technologies, navigation technology, sensor information fusion, global path planning, and so on. Based on specific circumstances of cleaning robot path planning problem is studied. How to find a path cover all the area with little time is the subject of research focus. On the basis of current path planning, this paper puts forward a new method of camera is used to establish three-dimensional model for cleaning robot positioning. In the process of the research, the author mainly made the following work:First, Focus on camera is used to establish3D model of the part. Using Hough transform to extract the robot cleaner image information to the corner, corner on its information feature extraction and recognize, calculate the Angle between the corner lines. In this paper, the robot cleaner environment to a certain limit, conducive to the computer3D model of the room, using a3D environment with camera coordinate system cleaning robot in the room a transposed and place in the acquisition of image information in the corner ridge mathematical relation model.Second, Based on the W. Huang put forward on the basis of the principle of minimum high of the decomposition algorithm was improved, in order to reduce cleaning robots turn times as effective ways to improve the efficiency of the complete coverage path planning for rectangular environment study, in view of the global environment to consider cleaning the path. The connection of decomposition area use backtracking method to solve traveling salesman problem, to transfer from one area to the next is the area between the linking problem carries on the analysis discussion, puts forward two effective ways. In the simulation algorithm, the efficiency of the two methods is the same with other.Finally, in this paper, the existing of GD-1type cleaning robot made some changes, using PC to control the walking process. Sensor for acquisition information is passed on to the upper machine to receive treatment.