北京理工大学珠海学院 2020 届本科生毕业设计智能家居设计-智能扫地机器人智能家居设计-智能扫地机器人摘 要智能扫地机器人是目前科技研究领域的大热门项目，研究的成果是利用效率高的人工智能清扫代替以往效率低下而且时间成本高的手工劳动。本论文以国内外的路径规划算法为参考，以便捷的使用、低成本、良好的可靠性等为论文的原则，最终设计一款符合市场的需求、实用性强的智能扫地机器人。智能扫地机器人要具有准确以及及时的回避障碍物的能力这一功能。在此，本文利用了 STM32F407VET6 单片机作为控制器，通过 C610 无刷电机调速器对无刷电机控制，自行设计硬件电路，在数字 PID 算法的和随机覆盖法的控制策略下完成路径清洁任务。本论文智能扫地机器人外配 4 个超声波传感器进行避障测距，从而完成避障系统的设计。该论文智能扫地机器人结构轻盈，携带方便，能够自主的完成清洁任务，相较于市场上上千元的智能扫地机器人，本论文的智能扫地机器人显得性价比更高。在人们日常的居家生活中能够起着十分便捷的角色，给人们带来方便。关键词：路径规划；机器人；传感器； 北京理工大学珠海学院 2020 届本科生毕业设计Intelligent home furnishing design intelligent sweeping robotAbstractIntelligent sweeping robot is a hot research project in the field of science and technology. The research result is to replace the low efficiency and high time cost manual labor with high efficiency artificial intelligence sweeping. This paper takes the path planning algorithm at home and abroad as a reference, and takes convenient use, low cost, good reliability as the principle of the paper, and finally designs an intelligent sweeping robot which meets the market demand and has strong practicability.Intelligent sweeping robot should have the ability of avoiding obstacles accurately and timely. In this paper, stm32f407vet6 single-chip microcomputer is used as the controller to control the BLDCM through c610 BLDCM governor, and the hardware circuit is designed by ourselves. The path cleaning task is completed under the con...
