Research And Design On The Control System And Path Planning Of The Cleaning Robot

This paper introduces the control system of the cleaning robot, including system component and design principle . At last in this paper the path planning about the cleaning robot is studied.The control system is composed of two levels. The top-level control system consists of AT89C51 MCU, which can receive data sent by sensors, and finish the path planning about the cleaning robot. The bottom-level control system consists of AT89C2051 MCU, which can process the data of the sensors and control stepping motors.According to the machine apparatus and work capability of the cleaning robot, the hardware circuits of the control system with MCU have been designed, which include the drive circuit of stepping motors, the circuit to deal with signals of the sensors, the communication interface circuit and so on. The communication structure based on the 485 bus and the Modbus protocol is designed to fulfill multi-MCU communication. The software of the MCU based on C51 language has been designed according to the control strategy.In this paper the ways of making up an environment map is introduced and a way of coverage path planning is given . Then the algorithm is emulated and the test results are also provided.