基于角度传感器的扫地机路径规划控制系统开发  

Development of Path Planning Control System for Sweeper Based on Angle Sensor

作　　者：肖奇军[1] 李胜勇 姚定安 张俊杰 

机构地区：[1]肇庆学院电子信息与机电工程学院,广东肇庆526061 [2]厦门蒙发利科技(集团)股份有限公司,福建厦门361008 [3]西北工业集团有限公司,陕西西安710043

出　　处：《机电工程技术》2017年第9期73-75,共3页Mechanical & Electrical Engineering Technology

基　　金：广东省公益研究与能力建设专项资金项目(编号:2015A010103018)

摘　　要：为实现对地面和空气中粉尘双重清洁功能,设计开发出家用智能净化清扫一体机,在阐述系统主要功能的基础上,进行扫地机控制系统的软硬件设计,主要包括传感器数据采集系统、通讯系统、人机交互系统、电机驱动系统。该系统智能化程度高,可以控制扫地机按指定路径自动清扫、避障、防跌和回充,从而保持地板清洁。在对扫地机运动数学模型建立和航位推算的基础上,实现扫地机自动路径规划,仿真结果表明车体能自动跟踪速度和转角。原型样机的建立实现对室内环境高效、节能的清扫和净化。In order to achieve double function of ground and air dust cleaning, it is developed in this paper an intelligent air purifier and sweeper combined household robot and the corresponding control system. On the basis of elaborating the main functions of the system, the hardware and software are designed mainly including sensor data acquisition system, communication system, human-computer interaction system, motor drive system. The system is highly intelligent and can automatically control the sweeping machine for ground cleaning according to given path, obstacle avoidance, fall prevention and recharge so as to maintain the floor cleaning indoor. Based on the mathematic model construction of movement and dead reckoning, the path planning of the sweeper is realized and the simulation results show that the sweeping machine can trace the velocity and rotation angle automatically. Prototype of the robot can achieve high efficient, energy-saving cleaning and purification for indoor environment.

关 键 词：扫地机 路径规划 控制系统 角度传感器 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]