Design And Study Of The Monitor Cleaning Robot Based On CMOS Digital Image Sensor

With the developing of robot technology and industry manufacture growing up and the cost dropping off, service robot has been gradually gone into common families. The cleaning robot is the pioneer of the service robots, which is a multidisciplinary field product. At the same time, the service robots' potential market demand is enormous. Therefore, service robots' research is forefront and useful. This issue is beginning in such environment.This issue's main content is the monitor cleaning robot and how to build its hardware and software systems. Use this platform to study the theory and technology, including the monitoring system hardware design, image acquisition, image compression and transmission, hardware and software systems and robot's all region coverage paths planning algorithm.The thesis is divided into six chapters, each chapter on the following:Chapter 1 introduces the current service robot products and the research's status. The key existing problems are discussed, and the main research content of this thesis is presented.Chapter 2 discusses the image acquisition and compression technology. Image acquisition and compression technology is the keystone of the monitoring system. This chapter compares how to acquire image and the image compression hardware, image compression technology. Ultimately, chooses the appropriate projects.Chapter 3 discusses the key section of the robot system: The monitoring system's hardware and software system design, including the image acquisition, image storage, compression and transmission. Then discusses the hardware design and how dose theμC/OS-II and LWIP protocol stack transplant in S3C44B0X. Finally introduces the monitoring system's software design, which focuses on the JPEG compression algorithm.Chapter 4 discusses the robot design, including the robot's hardware system design, low power and anti-jamming design and software system design. Then detailed discusses the robot's core path planning algorithm - full coverage path planning methods.Chapter 5 is related to the performance test, which includes three parts: software transplant tests; all-region coverage algorithm tests and the system reliability tests.Chapter 6 is a summary of this issue. It includes the conclusion of the study and the prospects for future work.