Intelligent Cleaning Robot Multi-sensor Information Fusion Research

In this dissertation, it describes the hardware structure of the autonomous intellectual cleaning robot (AICR) first, which is now under the development of our work team. Then, based on the hardware design, it concentrates on the research of the visual system in the AICR, which is composed of ultrasonic multi-sensors mainly. In this dissertation, it illustrates the work characteristics of ultrasonic multi-sensors in the application of visual system, demonstrates the management of data and point out the existing problems. Fused with the other sensor, the basic environment information is given to chip microprocessor, which realizes the function of navigation and obstacle avoidance. At last, it probes into other systems preliminary.Chapter 1, a survey of the importance of the research in AICR is given, together with the main difficulties and progress in techniques. And then it introduces several products on sale from large companies and the task of this dissertation.Chapter 2, the whole hardware structure of the control system is presented, which is composed of visual system position system charge system motor drive man-machine interface and dust collection system. The emphasis is put on the design of circuit and the optimum of parameters.Chapter 3,this chapter illustrates the work characteristics of ultrasonic multi-sensors in the application of visual system particularly. On the base of the research, the layout of ultrasonic multi-sensors is optimized .Chapter 4,based on the work characteristics of ultrasonic multi-sensors, this chapter demonstrates the management of data and existing problems of ultrasonic multi-sensors. Then fused with the bump sensor, the whole system realizes the detective ability of any obstacle in the room. At last, the navigation strategy is given.Chapter 5, this chapter introduces the fundamental principles of the position and the analysis of position errors. And then some measures are discussed. At last, other systems including their fundamental principles and functions in the AICR are mentioned brieflyIn the end, the important results and conclusions of this dissertation are summarized, and the prospect of further research on this autonomous intellectual cleaning robot is opened up.