Research Of Intelligent Cleaner Infrared Obstacle Avoidance Control System

Quickly and accurately to avoid obstacles is the chief problem of intelligent cleaner must face, it is also an important mark of the intelligent degree of vacuum cleaner. This thesis based obstacle avoidance technique in the infrared sensor on the existing, Key problems faced by infrared fall prevention sensors and the implementation of the required software and hardware control system were studied. Infrared obstacle avoidance problem refers to the environment with uncertain obstacles, intelligent cleaner using infrared sensors to detect the surrounding environment, and through the control system of infrared signal processing control wheel motor rotation, so as to realize intelligent cleaner to avoid obstacles. Infrared sensor is a kind of sensor is generally used to intelligent cleaner, which the most widely used and the cost is low, but to do detection accuracy and to avoid interference also need further research.Firstly, discusses the infrared sensor related issues, from the perspective of the cost, analysis and researches the problems of infrared anti drop sensor structure influence intelligent cleaner fall prevention effect. It analyzes ir drop sensor structure design and infrared receiving tube and the Angle between the tubes and other related parameters.Secondly, analyzes the software and hardware of infrared intelligent cleaner drop prevention control system, this part is the foundation to realize the infrared obstacle avoidance. The hardware design mainly includes microcontroller, infrared sensor driving circuit and power supply circuit, and the experimental prototype debug through software debugger.Third, the problems encountered about infrared anti drop sensor in intelligent cleaner obstacle avoidance control system were studied. Mainly includes intelligent cleaner walking along the border problem and the path planning problem in the black carpet. The experimental results show that to solve the existing problems in the anti falling intelligent cleaner infrared, reasonable and correct design of infrared anti drop sensor is the key.Finally, discusses the design problem of intelligent cleaner infrared anti-collision sensor, using multiple sets of miniature SMD package infrared emitting and receiving tube, position arrangement and obstacle avoidance are combined according to the "lattice" structure, Analysis and design the control circuit for realizing the function of multiple sets of infrared sensor obstacle avoidance. Through experimental verification, the method reduces the blind area and improves the ability of obstacle avoidance.