Research On Key Technologies Of Service-type Intelligent Sweeping Robot

As a young member of household service robots,sweeping robots can not only provide convenience for the intelligent life of human beings,but also have broad application prospects.However,some intelligent sweeping robots currently have defects such as single function,low cleaning efficiency,poor adaptability,and imperfect path planning to return to the charging dock.Therefore,the research on key technologies of service-oriented intelligent sweeping robots is particularly important.Firstly,the article introduces the research background of service-type intelligent sweeping robot related technology and the development status at home and abroad,and expounds the research significance of this subject.Secondly,the hardware system design ideas of the sweeping robot are introduced.After selecting the principles and technical parameters of each device,the overall architecture of the control system is completed.The main control chip is mainly STM32F103ZET6,and the peripheral connection of infrared sensor,ultrasonic sensor,MPU6050 six-axis sensor and other devices.Thirdly,the overall software architecture of the sweeping robot is introduced,mainly reading data from each sensor and writing a driver program for it.The MPU6050 six-axis sensor uses a quaternion attitude calculation algorithm for calculation.According to the environmental information adopted by each sensor,the cleaning path planning adopts different algorithms(spiral,bow-shaped walking coverage algorithm)according to different working environments.At the same time,the incremental PID control algorithm is used to control the movement of the motor to make the sweeping robot operate stably.The subject introduces APP wireless transmission to realize the remote control of the sweeping robot.Then analyze the existing intelligent algorithms.This topic combines the ant colony optimization algorithm to analyze and improve the basic ant colony algorithm.At the same time,the grid model of the environmental space is modeled,and then combined with the improved ant colony algorithm to realize the path planning of the cleaning robot returning to the charging base.Finally,the remote search charging seat and infrared docking of the robot are introduced.Through the software simulation experiment,the improved ant colony algorithm was tested in the path planning technology of the sweeper returning to the charging seat in two working environments.Compared with the traditional algorithm,the test effect was obvious,which shortened the time of obtaining the optimal path and avoided falling into the local optimal.