Floor Cleaning Robot in Domestic Environments
碩士 === 國立成功大學 === 工程科學系碩博士班 === 95 === This thesis designs and implements a new system for a domestic clean robot. A digital signal processor (DSP) is used to control the cleaning robot. Which includes: motor control, robot control, cliff detection module, and obstacle detection module include. Infr...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2007
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| Online Access: | http://ndltd.ncl.edu.tw/handle/24904194443790610525 |
| Summary: | 碩士 === 國立成功大學 === 工程科學系碩博士班 === 95 === This thesis designs and implements a new system for a domestic clean robot. A digital signal processor (DSP) is used to control the cleaning robot. Which includes: motor control, robot control, cliff detection module, and obstacle detection module include. Infrared sensors are used to detect obstacles without contact. In addition, an omni-directional collision detection module is proposed. This module can examine obstacle angles to provide an avoiding angle of the cleaning robot. The cleaning-robot can record the moving track in client computer through RS232, at the same time can build environmental map when the robot moves along the walls. During cleaning the boustrophedon path is planned for environments without obstacles. Experimental results show that the obstacle detection module offers good environmental information to the cleaning robot so that it can avoid obstacles efficiently and build the corresponding environmental map simultaneously for square and trapezium surroundings.
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