清洁机器人避障系统与路径规划设计  

The Design of Obstacle Avoidance System and Path Planning of Cleaning Robot

作　　者：杨牧垚 谢敏[1] 张学军[1] Yang Muyao;Xie Min;Zhang Xuejun(School of Computer,Electronics and Information,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学计算机与电子信息学院,广西南宁530004

出　　处：《长江信息通信》2021年第7期14-17,共4页Changjiang Information & Communications

基　　金：基于人工智能的交互式智能云音箱研发与产业化,广西创新驱动发展专项,广西科技重大专项,项目编号:桂科AA21077007。

摘　　要：文章首先分析了国内外公司清洁机器人产品的技术发展历史,根据技术发展过程猜想下一代产品可能使用的技术,然后着重横向比较各不同产品的避障技术,通过电商了解使用者对不同产品的评价,根据所学知识,设计出适用于小空间中(如宿舍、实验室)的中端清洁机器人,设计成品价位较低,效率较高。文章根据现有产品及文献,设计出完整的清洁机器人,对避障系统、路径规划进行着重设计,电源模块和清扫系统等非核心技术使用现有解决方案并进行结合。采用89c52单片机作为核心控制器,完成对各传感器反馈电平的处理,并发出相应指令使电动机转速发生差额变化实现避障动作。文章使用JY043W红外对管作为主障碍检测器,使用两个OMRON SS-5微动开关作为辅障碍检测器(碰撞检测器),可通过增加红外对管的数量来提升避障系统障碍检测的精度以及清洁效率。最后使用C语言作为编程语言编写控制指令,使得机器完成并实现预期效果。This article first analyzes the technological development history of domestic and foreign companies’cleaning robot products,guesses the technologies that the next-generation products may use based on the technological development process,and then focuses on the horizontal comparison of obstacle avoidance technologies of different products,and obtains some information of users’perceptions of different products through e-commerce.Evaluation,based on the knowledge learned,design a mid-level cleaning robot suitable for small spaces(such as dormitories),with lower price and higher efficiency.Based on the existing products and literature,a complete cleaning robot is designed,and the obstacle avoidance system and movement system are emphatically designed.Non-core technologies such as power modules and cleaning systems use existing solutions and combine them.Taking into account the courses learned and the degree of familiarity,the 89c52 single-chip microcomputer is used as the core controller to complete the processing of the feedback level of each sensor,and issue corresponding instructions to change the motor speed to achieve obstacle avoidance.This article designs a complete hardware circuit,using JY043 W infrared pair tube as the main obstacle detector,and two OMRON SS-5 micro switches as the auxiliary obstacle detector(collision detector),which can be improved by increasing the number of infrared pair tubes Obstacle avoidance system obstacle detection accuracy and cleaning efficiency.Finally,C language is used as the control instruction to make the machine complete and achieve the desired effect.

关 键 词：避障系统 清洁机器人 89c52 红外对管 差速 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]