Design Of Control System For Smart Window-cleaning Robot

With social development, population growth, urban residential construction began to be built higher and higher in recent years. The window-cleaning task seems to be dangerous and arduous. At the same time, the industry of home service robot has been developed rapidly. The robot has gradually into every family. The purpose of this paper is to design a practical, low-cost control system of smart window-cleaning robot for home users including hardware design and software design of the control system. The hardware design of the control system includes power including power management, motor drive circuit, signal acquisition circuit and communication circuit, which use STM32microcontroller as the control core. The task of software design is to migrant the embedded real-time OS, u C/OS-Ⅱ on the hardware. According to different functions, the control system software is divided into five tasks running on the embedded real-time OS including adsorption task, automatic cleaning task, manual cleaning task, communication task and display task. The paper provides a practical and effective algorithm of path planning which can cover the full area for automatic clean. An Android application is developed for window-cleaning robot by which user can control the robot better.