Design And Implementation Of Control And Management System Of Indoor Sweeping Robot

Since ancient times,people have been inseparable from housework.In daily housework,cleaning and mopping the floor are often time-consuming and laborious.With the development of robot technology,indoor sweeping robots gradually come into people's lives,freeing people's hands,and making people no longer trapped in complicated housework.As of 2021,many brand sweepers have appeared on the market.Except for first-line brand sweeping robots such as Xiaomi and Cobos,the sweeping control functions implemented by most second-and third-tier brands are not perfect,and user interaction is lacking or not friendly enough.In addition,thanks to the advent of the revolving lidar,today' s sweepers can build maps and perform cleaning planning.However,the overall planning path is affected by the cleaning mode,and the sweeping opportunity repeatedly goes back and forth between different rooms.Although it can achieve full coverage cleaning,The cleaning efficiency is not high.In view of the application requirements and pain points of the above sweepers,the research content of this paper is as follows:(1)In order to facilitate user control and view the cleaning status in real time,this article develops a mobile APP based on Android technology to show users the cleaning process and control interface of the robot vacuum,and help users interact with the robot through the mobile terminal.Through the subscription and publishing mechanism,it realizes the functions of controlling where the robot is scanning and setting the virtual wall in the restricted area;using multi-threading technology and message mechanism to ensure that the user interface will not be stuck due to waiting for resources;adding the XMPP service realizes the mobile terminal and Openfire server connection.(2)This paper proposes a whole-house coverage path planning algorithm.According to the characteristics of indoor doors,the global map is segmented according to the room,and the segmented local area is divided into columns,and the unit is decomposed.After the decomposition,it is smaller and more compact.The cattle-plowing walking path planning is carried out in the regular area,thereby avoiding the 4*4 cleaning mode that causes the sweeper to go back and forth between different rooms,and solves the problem of intelligent partitioning not being combined with path planning.(3)In order to realize the message intercommunication between the sweeping robot end,the cloud server end and the mobile end of the mobile phone,this article uses the open source XMPP protocol,uses the Openfire server and MySQL database for connection management and message and configuration persistence,through multi-threading technology,to achieve Real-time monitoring of data between different platforms to achieve real-time interactive effects,and change the data encryption method,integrate the symmetric encryption process to encrypt the content instead of the connection,improve the data transmission speed,and the overall control is about 0.7s,which satisfies Real-time requirements for data interaction.