Research Of Pose Control With Cleaning Robot Spirally Moving

With the development of science and technology, and the diminishing of the cost of production, robot technology is coming to family from factories and plants. Robots are getting closer to every single person in the world and serving for us in our daily lives. As a important embranchment of the intelligent robot, the research and development of Home Robot is accounted of every nation so much .In this thesis, a kind of pose control method, which is about Cleaning Robots based on the ultrasonic and infrared sensor in the closed indoor environment, is presented. The key method is about the research and application of sensors distance information detecting module, which includes the application of some important chips such as an ultrasonic sensor, an infrared sensor, an stepper motor and a chip of MCU, and also includes relevant data processing program. In this method, the system begins to record the distance and angle information of the obstacles around when the stepper motor drives the base, which the sensor is fixed on rotates, to circumrotate. After processing the data and some necessary descriptions, the system will create a map of the environment. And then the map will be used for the Cleaning Robot obstacle avoiding and pose control.In this thesis, the hardware and software module design of the pose control system, and the lab platform of data processing system are introduced. With many experiments, the system can receive the distance and angle data, and create the surrounding map with the description method. And experiments also conclude the influences on infrared sensor's work when its ray makes different angles with the obstacles' plane, and acquire the working ranges that this system can be fit in. The system can achieve all functions and work well in the experiments.