Path-planning And Automatic Electrification System Research Of Cleaning Robot

With the advance of science and technology and the improvement of people’sliving standard,Home service robots stepping into people’s lives,The IntelligentCleaning Robot is the most popular,It does not only reduce the burden on people’slives, but also improve people’s living standards, marking the progress of science andtechnology.The Intelligent Cleaning Robot calculates the cleaning path according to thesurrounding information. When it works, it constantly scans their surroundings, buildsinformation maps, uses the orientation module to calculate the current position andthe cleaned area, and plans route at the same time.Cleaning robot is equipped withpower monitoring module, when the battery falls below a critical value, the robotspause a currently running program, save the current state, turn on automaticrecharging automatically and find a charging station to achieve charging. When fullcharged, The Intelligent Cleaning Robot read the paused program and run it. On thebasis of existing studies, this article has improved path planning and automaticcharging system to make robots to better of serving people as follows:1、we don’t use Laser Scanner but use a mathematical method to describe theedge of the environment linearly;2、we always use Infrared rays when robot looking for the Charging Station,butthe distance it launched is too short,if the robot can’t sense it,it will search the latestedge and going along the edge,it wastes so much time and so much energy. So weuse coordinate of the robot and the Charging Station.At first the robot goes to thecharging station according to the coordinate,and then when it goes into the area ofinfrared rays,the docking and charging program begin.3、Cleaning Robot always has a circle shape, it looks lovely but it can’t clean thecorner of walls. So we design a square appearance with rounded corners, not onlysolve the problem but also beautiful.4、The robot must avoid impacting Obstacles, so it has to bypass Obstacles, but itwastes so much time and electricity if we bypass Obstacle just meet it, so we use the “S” method, the robot goes along by the obstacle for a circle and calculates theMathematical expression of the obstacle. when it goes back to the position it met theobstacle,it begins to clean as “S” until the end of the first edge.And then it goes tothe upper right corner of the obstacle, and continue to clean as “S”.