Application of Locomotion Mapping to the Path Control and Coverage Analysis of Cleaning Robot

• Main Authors: Yu-Xian Fan, 范育賢
• Other Authors: Jyh-cheng Yu
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/26302691160537708367

碩士 === 國立高雄第一科技大學 === 系統資訊與控制研究所 === 99 === This paper explores the learning range that a home cleaning robot can sweep, and the control of the cleaning path to improve cleaning efficiency. The cleaning robot in the cleaning process can, often by the conversion of the motion modes of the path, such as random, spiral, cattle plow, parallel, sideways, etc., control the path in a given time to cover the cleaning area. However, the cleaning robot may repeatedly clean the same area, resulting in the failure to clean some areas and affecting cleaning efficiency. In this study, by the modular control structure of the cleaning mode, positioning technology was applied to cope with the cleaning path grid, and repeated cleaning records done to identify the range. Giving the distance along the side to control the robot as it cleans along the wall will help build the cleaning area, while recording the cleaned area will obtain the cleaning area after learning. When the coverage failed to increase to 2%, the cleaning path control was used to move the robot to the area not yet cleaned, to improve coverage. In this paper, the single-chip was used as the basic robot control and clean mode switch. Through a wireless network, the robot transfers the wheel variation value back to the computer server to build an environment learning interface with C + + Builder, to verify the feasibility of this method.