The Design Of The Control System Of The Cleaning Robot And Realization Of Geometric Map-matching

With the improvement of living standards and advances of science and technology, as an indoor cleaning tool, cleaning robots'advantages have gradually been recognized. The future of cleaning robot market will be broad and bright. Research on cleaning robot integrates many disciplines, such as computer, intelligent control, ergonomics, and mechanical engineering. More and more attention has been attracted by scholars at home and abroad and a lot of new achievements were made. Self-positioning and map-matching are two core issues in this field, and also basis of autonomous navigation and traverse planning. Based on low-cost sensors the combination of relative positioning and absolute positioning (the geometric map-matching location) is used to achieve the robot positioning.Firstly, this article introduces the overall design of the cleaning robots, including the design and implementation methodology of the structure, the sensor system and control system. Then the role and working principle of the sensor units will be analyzed. The circuit design of embedded DSP control systems, drive systems and sensor systems will be introduced. Equations of motion, error sources and analysis of the relative positioning are proposed.In this paper, the geometric map matching method based on infrared distance sensors is proposed, that is, through the recognition and measurement of environmental characteristics such as the corner, the door, and access, and based on the model of the geometric map, the building and matching of geometric map are realized. Positioning error can be discounted to "zero" in order to avoid location failure, which is caused by the growing of the relative error. Finally, the experiments will verify the geometric map matching method is right and feasible.