Design And Implementation Of A Sweeping Robot Autonomous Charge System

For sweeping robot,a completely independent system,autonomous recharging is an indispensable function.This paper designed and realized an autonomous recharg-ing system,which is based on the camera of a robot platform,has effectively im-proved the ability of long-distance searching of current sweeping robots on the market.The main work is as follows:?Long-distance searching module:Designed the scheme of charging station ar-ea marked in grid map and searching path.Two point positioning method of robot motion was used to determine the charging station area.D*algorithm is adopted for the known charging station area.For unknown conditions in charging station area,erode and refinement algorithm partition map has been used for path searching,and modified spanning tree coverage algorithm based on conditions in the charging station is used for positioning on the wall.The simulation results show that the robot path planning can cover all possible charging area.?Close-distance docking module:Designed a close-distance docking system based on the combination of infrared sensors and camera,adjusted robot' position with infrared signal,and realized accurate docking with the video data.Realized the light path and hardware circuit of robot and charging station;wrote infrared signal processing and position adjustment procedure based on STM32,and docking process based on ARM CPU.?Manual guidance module:Used infrared signal direction instruction guidance and laser spot direct guidance scheme.Designed hardware circuit of the controller,wrote infrared signal instruction recognition procedure based on STM32,image pro-cessing procedure with ARM CPU,and robot motion control procedure.?Power monitoring module.DS2780E power monitoring chip is used to moni-tor the battery power and other data in real time.Test results show that the charging station marking area in the robot grid map can cover the actual coordinates of the charging station,error of the close-distance dock-ing system is within ± 10mm and the robot movement position and target point error in the manual guidance mode is 27mm.The real-time monitoring of the data such as the amount of electricity and temperature in the robot's discharge and charging process was performed.