Research On Key Technologies Of Indoor Intelligent Sweeping Robot

Indoor intelligent sweeping robots can independently and intelligently do the cleaning work on the ground,It is more and more popular to rescue people from the increasingly heavy,monotonous physical work,The key technology have turned into a research hotspots.As the two key technologies,the self-positioning and full traversal path planning technology has become the main factor to measure the performance of the sweeping robot,and it is necessary to make in-deepth study.Firstly,The sweeping robots combine low cost photoelectric encoders with MPU6050 sensors for positioning,The sensor is modeled,and the errors in the positioning process include systematic errors and random errors.The system error is corrected by the formula method,and the random error is corrected by the extended kalman filter algorithm.The practicability of the method is tested by simulation,which provides a guarantee for the environment modeling and the complete coverage path planning.Secondly,The paper presents several methods of environment modeling,and establishes the environment grid map by the edge learning.On the basis of biologically inspired neural network,A complete coverage path planning method is presented based on improved neuron excitation.It can effectively solve the problem of blind area cleaning and dead angle escaping,and states the principle and analyzes the implementation procedure of the full traversal path planning.The simulation results indicate that the measure can achieve high coverage and low repetition rate in the reachable region.Besides,the problems such as the trapped,the fall prevention and the incomplete cleaning are analyzed and the solutions are proposed.Then,According to the research of the self-localization and full traversal path planning of the sweeping robot,the corresponding index requirements are proposed,and the integral planing is designed,including the distribution of sensor design,mechanical design and control system of hardware and software design etc.The hardware system consists of sensor module,main control system,power module,communication module,display module and drive module;The software system consists of information collection,driver program,localization and path planning program.Finally,The experimental platform of indoor sweeping robot is built,and the required sensors are analyzed and tested,The correction of error with localization experiment is completed.The complete coverage path planning method based on the improved neuron excitation is compared with that of the random sweeping and edgewise roundabout methods,and vefify availability and superiority of this method.The experimental results are given to verify the emergent state in the process of actual traversal sweeping.