Research And Design Of Intelligent Sweeping Robot Based On STM32

Intelligent sweeping robot is a hot research topic in the field of science and technology, and the goal is to replace the inefficient and time-consuming manual labor in the past with the efficient intelligent sweeping.this paper based on the improved path planning, adhering to the principle of low cost, convenient use, good reliability and so on, and strive to design a intelligent sweeping robot that meets the needs of the market and has strong practicability.the main work done in this paper includes:(1) The study of path planning. the path planning of sweeping robot is studied, such as cell division method, visual graph method, random covering method, grid method and so on.the advantages and disadvantages of various path planning are analyzed and compared.(2) The detailed design of path planning.in this paper, the coverage rate, repetition rate, timeliness, energy consumption rate as an indicator to measure the performance of path planning,combined with the working environment of the robot's overall and local aspects,introducing the concept of unit occupancy, average density of the grid, and across density to Put forward an effective and reliable path planning scheme:make reasonable improvement to the random covering method and combine with the grid method to establish the grid cell as the path planning, and make the further optimization of the path planning after obtaining the environmental characteristic information.(3) The design of the intelligent sweeping robot verification platform.the structure of all kinds of sweeping robot at home and abroad is studied, and the related principles of the design of sweeping robot are studied in this paper,STM32F103ZET6 chip as the core component of the system's main control module,responsible for the entire system of hardware logic control and software level planning;Based on ultrasonic sensor, MPU-6050 sensor and photoelectric encoder, the information acquisition module of the system is responsible for the acquisition of the robot's own state and environment information;With a variety of mechanical devices and their driving circuit consisting mainly of the implementation of the module, responsible for the specific cleaning tasks;while the BQ2002 chip as the core of the charging base is used for autonomous charging of the robot Correspondingly.(4) The design of system software. according to the software implementation process, completed the design of relevant software of the information collection system, information integration system and task execution system.(5) System test. the path planning was tested by the intelligent sweeping robot verification platform,the results show that using the path planning are proposed by the paper, the robot can effectively and reliably for intelligent sweeping, achieved the indicators of high coverage, low repetition rate, less time consuming and energy saving at the same time, the hardware equipment of verification platform also can work steadily.