智能家庭清扫机器人的研究

工学硕士学位论文智能家庭清扫机器人的研究周盛荣哈尔滨工业大学2006年6月图书分类号：TP242.6U.D.C.:629.5工学硕士学位论文智能家庭清扫机器人的研究硕士研究生：周盛荣导师：黄庆成副教授申请学位级别：工学硕士学科、专业：仪器科学与技术所在单位：自动化测试与控制系答辩日期：2006年6月授予学位单位：哈尔滨工业大学ClassifiedIndex：TP242.6U.D.C.:629.5ThesisfortheDegreeofM.Eng.RESEARCHONINTELLIGENTDOMESTICCLEANINGROBOTCandidate：ZhouShengrongSupervisor：AssociateProf.HuangQingchengAcademicDegreeAppliedfor：MasterofEngineeringSpecialty：InstrumentationScienceandTechnologyDateofOralExamination：June,2006University：HarbinInstituteofTechnology哈尔滨工业大学工学硕士学位论文-I-摘要智能家庭清扫机器人结合了传感器、移动机器人技术等多个领域的关键技术，实现室内环境（地面）的半自动或全自动清洁，替代了传统的人工清洁工作，具有十分广阔的市场前景。本文首先综述了家庭清扫机器人的国内外研究现状，在综合比较了国内外多种典型产品的基础上，提出适合中低端用户使用的家庭清扫机器人整体设计方案。智能家庭清扫机器人系统由清扫机器人和充电站组成。清扫机器人是实现智能清扫的主体部分，本文介绍了清扫机器人的组成部分，并完成了硬件电路的实现。考虑到存储、接口资源及可靠性能等，主控器选择了Freescale公司的MC9S08GB60单片机，所构成的单片机应用系统功能强、性价比高，完全满足控制功能的要求。然后，详细说明了红外传感器，尘仓检测，碰撞检测，浮动开关，里程计，贴边行走检测、键盘、液晶显示以及吸尘电机、毛刷电机、主动轮驱动电机等控制原理。在软件设计方面，通过分析底层与路径规划算法的衔接，实现了机器人直行PID校正算法、里程计返回值的坐标变换及计算等算法，为路径覆盖算法提供依据。并实现了主控程序及时钟设定、键盘中断服务、红外、碰撞传感器检测等子程序。昀后，将机器人的全部功能整合进行联合调试。完成PID直线校正和里程计误差修正后，加入路径覆盖算法进行房间内的全区域覆盖和地图创建的调试。实验结果表明，该系统性能稳定、可靠，覆盖率高，可随时参与人为控制，安全性高，达到了智能家庭清扫机器人的设计要求。关键词清扫机器人；智能控制；覆盖算法；单片机系统哈尔滨工业大学工学硕士学位论文-II-AbstractIntelligentdomesticcleaningrobotunifiesmanyessentialtechnologiessuchassensor,mobilerobottechnologyandetc.Ithasrealizedthesemiautomaticorentireautomaticcleaningforindoorenvironment(ground)andsubstitutedthetraditionalmanualcleaning.Ithasanexpansiveprospectonmarket.Thepaperfirstsummarizesthedomesticandforeignresearchontheintelligentdomesticcleaningrobot.Basedonthecomparisonamongmanytypicalproducts,awholedesignschemeofintelligentdomesticcleaningrobotadapttobeusedbylow-costproductuserisbroughtforward.Therobotsystemiscomposedofcleaningrobotandthebatterychargingstation.Cleaningrobotisthemainparttorealizetheintelligentcleaning.Thisarticleintroducestheconstituentsofcleaningrobotandhascompletedthehardwarecircuits.Consideredthememory,theinterfaceresourcesandthereliabilityperformanceandetc,theFreescaleCorporation'sMCUMC9S08GB60hasbeenchosenasmastercontroller,whichmakestheMCUapplicationsystemhavestrongfunction,highratioofperformancetoprice,andtotallysatisfytherequirementofcontrolfunction.Thenthearticlespecifiesthecontrolprincipleoftheinfraredsensor,thedustwarehousedetection,thecollisiondetection,thefloatingswitch,thespeedometer,theedge-walkingdetection,thekeyboard,theliquidcrystaldisplayaswellasthevacuummotor,thebrushmotor,thedrivermotorandetc.Inthesoftwaredesignaspect,throughanalyzingthelinkbetweenthebottomhardwareandpathcoverageplanningalgorithm,itactualizesPIDadjustmentalgorithmfortherobot’sstraightwalking,thecoordinatetransformationandcomputationofspeedometer’sreturnvalue,providingthebasisfortheroutecoveragealgorithm.Moreover,itcompletesthemaincontrollingprogramandalsorealizestheclocksetting,thekeyboardinterruptservicesubprogramandthedetectionproceduresofinfraredandcollisionsensors.Finally,therobotintegratedwithentirefunctionsisdebuggedasawholesystem.AfterthePIDadjustmentofrobot’sstraightwalkingandthespeedometer哈尔滨工业大学工学硕士学位论文-III-errorcorrection,therobotcompletesthetestsoffullpathcoverageandmapgenerationaddedintopathcoveragealgorithmindomesticenvironments.Theresultsindicatethatthissystemhasstable,reliableperformance,highpercentageofcoverage,capabilityofparticipatinginmanualcontrolwhenit’snecessary,highsecurityandhasachievedthedesignrequirementoftheintelligentdomesticcleaningrobot.Keywordscleaningrobot,intelligentcontrol,coveragealgorithm,MCUsystem哈尔滨工业大学工学硕士学位论文-IV-目录摘要...............................................................................................................................IAbstract.......................................................................................................................II绪论..............................................................................................................................11.1课题研究的背景...............................................................................................11.2国内外研究现状综述.......................................................................................11.2.1吸尘机器人的特点....................................................................................11.2.2国外产品研究现状....................................................................................21.2.3国内产品研究现状....................................................................................31.2.4清扫机器人存在的问题分析....................................................................41.3课题来源及研究的目的和意义.......................................................................51.3.1课题来源....................................................................................................51.3.2研究的目的和意义....................................................................................51.4本课题主要研究内容.......................................................................................5第2章智能家庭清扫机器人的总体设计方案........................................................72.1设计目标......................................................................................