Research And Design Of Navigation Robot For Air Purification Based On Lidar

With the continuous development of science and technology and the higher requirements of smart homes,people pay more and more attention to the quality of the living environment.However,due to the single detection method and fixed detection range of traditional fixed air purification devices,it has been unable to meet people's requirements for modern intelligence.Needs of life.Therefore,this paper designs an air purification service robot that can walk and think,to realize the circulating purification of the whole house and improve the overall purification efficiency.This paper adopts the method of combining theoretical analysis with experimental verification.First of all,based on the particle beam information of lidar sensor,RBPF-SLAM(RAO Blackwellized particle filters the simultaneous localization and mapping,RBPF-SLAM)algorithm can realize the mapping and robot positioning in the indoor environment,overcome the problems of particle degradation and poor particle diversity in the traditional RBPF-SLAM algorithm,shorten the time required for the mapping,realize the rapid and accurate environment map construction,reduce the error of the robot pose estimation,and improve the accuracy of the robot autonomous navigation.Secondly,design the software and hardware system of air quality parameter detection and air purification.realize the real-time monitoring of the parameters of dust and harmful gas in the air,cooperate with the mobile robot to realize the multi-point detection of air quality parameters and air purification,complete the development of the mobile robot remote monitoring system,and realize the remote monitoring of indoor air quality parameters and air purification,Enhance th e humancomputer interaction ability and improve the efficiency of indoor air purification.Finally,By setting up the system test environment,Some perfo rmance tests of mobile air purification robot are realized.The test results show that the improved RBPF-SLAM algorithm has better positioning accuracy and fast map building ability.Compared with the traditional algorithm,the deviation error of navigation position and attitude is reduced by nearly 39.9%,and the navigation time is shortened by nearly 7%.Through the design of the highest concentration path subfunction,the rapid purification scheme of local area is realized,and the feasibility of the system is verified.