Research Of Intelligent Cleaning Robot Based On Multi-Sensor

Automatict cleaning robot is a kind of automatic cleaning equipment which is used in large and medium-sized public cleaning places.Using modern sensor technology,and fusion of multi sensor technology applied to automatic washing cleaning robot in order to achieve automatic cleaning,so that it can be independent in complex working environment to avoid obstacle.According to the rules of obstacle avoidance and the application of automatic algorithm to achieve the clean area traversal coverage,the cleaning work is implemented efficiently.Based on the research and design of automatic washing cleaning robot to realize the automatic and automatic cleaning,which greatly liberated manpower,improve working conditions and working environment,making the cleaning work more efficiently.In this paper,we study the cleaning equipment at home and abroad,and design a model of automatic cleaning robot,including the mechanical part and the sensor control system.Through the automatic cleaning robot to achieve efficient cleaning work on the ground,and can effectively avoid obstacles,so as to achieve clean autonomy and intelligent.The main contents of this paper are as follows:1.The domestic and foreign washing cleaning equipment,systems analysis,analysis of the mechanical structure of washing cleaning equipment of the whole module structure and the overall structure scheme,and three-dimensional model of automatic cleaning robot cleaner using graphics software.2.Multi sensor fusion obstacle avoidance system design.With the help of multi sensors to realize the obstacle avoidance of automatic cleaning robot,the performance analysis of all kinds of sensors is carried out.The ultrasonic sensor,infrared sensor and contact sensor are used to realize the real-time obstacle avoidance.3.Automatic cleaning robot localization and regional environmental planning.The cleaning environment is modeled,and the location problem of the automatic cleaning robot in the regional environment is realized by using the algorithm of path estimation.For cleaning traversal planning problem,the S type detour traversal method is used to achieve the efficient coverage of the clean area,and the traversal path is analyzed according to the obstacles.4.Multi sensor control system software and hardware design.In view of the main motion control system hardware structure and write the PLC control algorithm and PC control terminal of mobile phone application program interface,and select the ESP8266WiFi module between host and slave communication.5.the model is placed in the environment of the clean area of the obstacle to carry on the system to clean the obstacle avoidance test,to verify the feasibility of cleaning obstacle avoidance.