Design Of Control System For Sweeping Robot Based On STM32

Sweeping robot is a kind of service robot which can replace people to finish the task of cleaning the ground.It can effectively reduce the repetitive work of cleaning the ground and improve the quality of life.At present,sweeping robot is a kind of intelligent product with relatively mature technology,and has broad market prospects.The control technology of sweeping robot is the key to improve its intelligence level and reduce production cost,which has important research significance.Firstly,this paper introduces the research background,research status and significance of the sweeping robot at home and abroad,then introduces the structure of the control system of the sweeping robot,designs the main control board with STM32F103ZET6 as the main control chip,external infrared sensor,ultrasonic sensor,MPU6050 gyroscope and other devices.Programming software drivers for devices,programming PID control,PWM control and path planning algorithm.Sensors constantly acquire information about the surrounding environment,path planning algorithm controls the movement route of the sweeping robot according to different environment,and PID real-time output control quantity controls the movement of the motor to ensure the stability of the sweeping robot.Finally,a prototype of sweeping robot is made and the parameters of PID are adjusted.The rationality of the control system design of the sweeping robot is verified by experiments.