The Design And Improvement Of Cleaning Robot Control System

From the 90s to this century beginning, with the development of computer technology, the mode of adding processor on traditional machine has became popular, cleaning robot emerges at the historic moment. Cleaning robot can release people from repeated heavy labor. Also because of its high intelligence level and environmental adaptability, the related technology has gradually been widespread concerned. The research has practical significance.The paper has set up a three-wheeled hardware mechanical platform of the cleaning robot. Circuit board is designed and conducted, and the control algorithm is programmed, the cleaning robot can realize the function of automatic cleaning. On this base, research is carried out around path planning method, accomplish strategy path planning algorithm software. The accomplished algorithm is used in cleaning process, and the sweep efficiency has been improved.Two wheels and one caster structure consisting a three wheel mechanical platform, which is a basic system of the Cleaning robot. The control system takes STM32 micro-controller as the main chip, using infrared distance sensors and crash sensors to collect environmental information, and use DC motors to drive wheels as motion part. The paper complete hardware circuit design, and the realization of hardware board, after a series of debugging and experiments, the cleaning robot can move as a random style of cleaning mode to sweep the situation.According to the characteristics of cleaning robot which needs a full coverage of the environmental, the essay studied and implemented three strategic paths outside sweeping spiral traversal algorithm, sweeping spiral border traversal algorithms and reciprocating sweeping algorithm, compared with the previous methods, these new algorithm improve the cleaning efficiency.also introduced a method to generate a map of the environment to guide the subsequent path planning by using the map, thereby to improve cleaning efficiency.