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摘 要
室内地面清洁是一项繁重乏味、费时费力的体力活。智能移动清洁机器人的出现很好地解决了这一问题。将吸尘器技术和智能机器人技术完美地融合在一起的智能吸尘器，它的结构简单，行动灵活智能，实现了室内无人自主清洁，是一种省时省力，健康环保的室内清洁机器人，具有广阔的商业价值和应用前景。
论文将介绍如何把单片机多功能智能小车应用于家用清洁工作中。论文将以单片机最小系统为硬件开发基础，详细阐述了系统主要的硬件结构设计。在此基础上，对智能家居清洁小车导航系统进行了深入的研究，阐述了超声波传感器的特点，数据处理和存在的问题，与其他传感器融合，来满足对室内障碍物的探测，从而实现智能家用清洁车的导航、避障、路径规划等功能。设计分为以下几个模块：传感器采集模块、CPU控制模块、驱动模块、清扫模块。设计的重点主要集中在信息采集和决策模块上。
关键词：智能清洁小车；单片机；导航避障；超声波红外线；路径规划
ABSTRACT
Is a heavy and tedious, time-consuming and laborious manual work of cleaning the indoor floor. Intelligent cleaning robot is a good solution to this problem.Vacuum technology and intelligent robot technology perfect combination of intelligent cleaner together, it has the advantages of simple structure, flexible action intelligence, to implement indoor unmanned cleaning, is a time-saving,indoor cleaning robot of environmental health, has a broad commercial value and application prospect.
paper will introduce how the multifunctional intelligent car application of single chip microcomputer in household cleaning work. paper will be the smallest single-chip system based on hardware development, the detail of the hardware design of the main system. On this basis, the intelligent Home Furnishing clean car navigation system is studied deeply, expounds the characteristics of ultrasonic sensors, data processing and the existing problems,integration with other sensors, to meet the detection of indoor obstacles, so as to realize the intelligent household cleaning vehicle navigation, obstacle avoidance,path planning and other functions. Design is divided into the following modules: sensor acquisition module, CPU control module, driver module,cleaning module. The design mainly focus on information gathering and decision module.
Key words: intelligent cleaning trolley; single chip microcomputer; navigation and obstacle avoidance; ultrasonic infrared; path planning
目 录
