The Embedded Cleaning Robot System Design And Implementation

Indoor floor cleaning is a boring and repeative work. Traditional vacuum cleaners need to work with people participation which is not convinient to operate. Indoor floor-cleaning robots combine mobile robot technology and cleaner technology with smart structure, realize the autonomy of the indoor floor clean. Indoor floor-cleaning robots, which are environmental friendly, healthy and intelligent service robots, will be widely used in the future with broad market demand.A kind of indoor floor-cleaning robot is designed in this dissertation based on the research actuality and development of cleaning robots. Besides, path planning method and automatic charging method are discussed. The main contribution of this dissertation is as follows:1. The whole system is designed according to the function and task of cleaning robots. Powerful embedded processor with low energy consumption is adopted as the core control unit. The system is strong, scalable and has a smart structure.2. Mechanical design, hardware design and type chosen, software design of one kind of cleaning robot are achieved. It contains hardware drawing, experiment circuit making, system installing. The debugging of the hardware and software system is finished.3. Complete coverage is important for cleaning robots, two complete coverage path-planning methods—"井" shaped traversal algorithm and outer spiral algorithm are discussed, these two path-planning methods are improved and realized to improve the efficiency of the traversal.4. Due to the cleaning robots need to charge automatically, a method to find the charger based on Infrared detection is designed and realized in this dissertation.5. Preliminary study on computer vision in cleaning robots is made.Finally, the research results, experience and shortcomings are summarized, and some topics for future cleaning robot research are introduced.