Research On Intelligent Domestic Cleaning Robot

Intelligent domestic cleaning robot unifies many essential technologies such as sensor, mobile robot technology and etc. It has realized the semiautomatic or entire automatic cleaning for indoor environment (ground) and substituted the traditional manual cleaning. It has an expansive prospect on market.The paper first summarizes the domestic and foreign research on the intelligent domestic cleaning robot. Based on the comparison among many typical products, a whole design scheme of intelligent domestic cleaning robot adapt to be used by low-cost product user is brought forward.The robot system is composed of cleaning robot and the battery charging station. Cleaning robot is the main part to realize the intelligent cleaning. This article introduces the constituents of cleaning robot and has completed the hardware circuits. Considered the memory, the interface resources and the reliability performance and etc, the Freescale Corporation's MCU MC9S08GB60 has been chosen as master controller, which makes the MCU application system have strong function, high ratio of performance to price, and totally satisfy the requirement of control function. Then the article specifies the control principle of the infrared sensor, the dust warehouse detection, the collision detection, the floating switch, the speedometer, the edge-walking detection, the keyboard, the liquid crystal display as well as the vacuum motor, the brush motor, the driver motor and etc.In the software design aspect, through analyzing the link between the bottom hardware and path coverage planning algorithm, it actualizes PID adjustment algorithm for the robot's straight walking, the coordinate transformation and computation of speedometer's return value, providing the basis for the route coverage algorithm. Moreover, it completes the main controlling program and also realizes the clock setting, the keyboard interrupt service subprogram and the detection procedures of infrared and collision sensors.Finally, the robot integrated with entire functions is debugged as a whole system. After the PID adjustment of robot's straight walking and the speedometer...