基于Stm32 扫地机器人的控制系统设计含3张CAD图
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基于Stm32
扫地机器人的控制系统设计含3张CAD图
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“技术”方为扫地机器人的“王道” Technology is the King way of floor sweeping robotBy Cai yueriAt present, the floor sweeping robot has become a hot spot in the field of service robot.Just in the past double 11, the major brands of sweeping robots have made a lot of money.But how much technology is hidden behind this cash cow?In the future, where will it go?We can see from this article.throughAfter a long period of development, the history of industrial robot technology is relatively short.At present, there is no strict definition of service robot in the academic circle, which is technically mature, but the definition of service robot in the sense of personality.In recent years, International Federation of Robotics (IFR) has been given a brief definition of service robot by the majority of scientific researchers and enterprises. It is defined as: service robot attaches great importance to, and gradually enters ordinary peoples families. Its development history is a semi autonomous or fully autonomous robot, which can work independentlyComplete the service work beneficial to human health.Service robots are widely used, such as education, entertainment, special (security, military), shopping guide, welcome, medical, finance, logistics, e-commerce, business secretary, etc.Among them, the home cleaning robot is a kind of service robot with the largest number of sales and the widest range of applications at this stage.There are many kinds of home cleaning robots, including sweeping robot, mopping robot, window cleaning robot, air cleaning robot, dust cleaning robot and so on.Sweeping robot is the most important member of household cleaning robot, accounting for more than 96% of the market.The demand of service robots has exceeded that of industrial robots, showing a stronger market demand and providing a broader market imagination.Service robots can meet some of the actual needs of people's daily life, and most of the market pricing is in the hundredsFigure 1: summary classification of service robotsIn recent years, its market scale has achieved explosive growth in the range of RMB to several thousand.According to IFR statistics, the global sales of service robots reached 3.3 million units in 2014, with a sales volume of about US $1.2 billion, an increase of 24% year on year.It is estimated that the sales volume of service robots will increase significantly from 2015 to 2018, with a total sales volume of 25.9 million units and a total sales volume of 12.2 billion US dollars.At the same time, according to the prediction of relevant research institutions in China, the market scale of China's service robot is expected to exceed 20 billion yuan in 2017.Development status of floor sweeping robotWith the progress of science and technology and social development, especially affected by the acceleration of the pace of life and the increase of work pressure, people hope to be more free from the tedious household cleaning affairs.This is no doubt a clean robot into the homeCai yueri, researcher, Institute of robotics, Beijing University of Aeronautics and Astronautics, postdoctoral fellow, School of mechanical engineering and automation, Beijing University of Aeronautics and Astronautics| Table 1: typical floor sweeping robots of various brands and their main featuresrobotbrandProduct pictureshapeMain featuresFM-750BFmart fomatcircularCloud guard security system, environment automatic identification system, inductive anti-collision, edge, left-hand, right-hand, spiral and key circulation and other cleaning methods.Position recognition, creating room map through camera, supporting IOS and Roomba 980 iRobot roundAndroid application, automatic recharge pile, autonomous obstacle avoidance, anti drop and other functions.V750Dibea dibeacircularGyroscope navigation, cleaning path planning, bow path walking, anti drop, automatic recharge pile, automatic, key, edge, appointment and other cleaning modes.Automatic charging, reservation cleaning, wireless remote control, anti-collision, anti winding, anti falling, round dust identification of lex-a338 lithium, indoor GPS navigation, two-way virtual wall, can avoid irregular and disorientation.Suzuka SuzukaProsceniccircularDoppler effect principle automatically adjusts power, HSIR + multi-point matrix intelligent system, intelligent route planning, avoiding random random walking;Anti collision, anti falling, obstacle crossing, voice function.kingkingcircularAnti drop, anti-collision, wireless remote control, obstacle / climbing, intelligent cleaning, intelligent escape, virtual wall and other functions.Human computer interaction, three-stage cleaning, intelligent route planning, fall prevention, intelligent escape, smart rabbit, smart treasureBotvac ConnectedNeatoU-shapeThe built-in WiFi function can be remotely controlled through IOS or Android applications, with strong and ecological cleaning mode.VR9000 POWERBotSamsungU-shapeEquipped with laser pointer remote control, it can realize precise remote control cleaning function.Automatic recharge point function.Intelligent detection, remote control command sensor, anti-collision / impact adjustment sensor, dust sensor Fc8820 Philips roundAutomatic identification, virtual wall function, obstacle rebound function, etc.Trilobite sweeping robot - the world's first fully automatic sweeping robot.Subsequently, iRobot company has produced seven generations of home robot Roomba, which has become the representative product series in this field.2010 Around 2000, domestic brands of floor sweeping robots emerged one after another and gradually realized industrialization.At present, there are dozens of sweeping robot brands in the domestic market, such as corworth, iRobot, fumart, Dibei, xrobot, Haier, Midea, prosenic, Philips and Samsung.However, the proportion of domestic enterprises with core R & D capabilities is not high.In recent years, sweeping robot is popularized at an amazing speed, and the market is developing rapidly.In the early stage of development, the main purpose of the sweeping robot is to improve the sweeping efficiency.At this stage, after ensuring better cleaning effect, the sweeper robot is bound to turn to the development direction of multi-sensor fusion, navigation, path planning and other intelligent core technologies.Key technologies of floor sweeping robotThe basic functions of the sweeper robot that users can directly see are cleaning, dust collection, mopping, etc. Therefore, the relevant enterprises continue to optimize the material, structural form, rotation speed / mode of the sweeper brush, as well as the basic functional principle and technology of dust collection principle, dust collection mechanism form, mop material, mop layout, water supply quantity, water supply mode, etc.At the same time, in order to achieve better cleaning effect and better user experience, sweeping robot involves the following key technologies in the field of artificial intelligence.Multi information technologypassSensory syncopeletterMulti sensor information fusion refers to the synthesis of sensing data from multiple sensors in order to produce more reliable, more accurate or more comprehensive robot state information, such as the fusion of lidar, ultrasonic sensor, infrared sensor, odometer information in the sweeping robot.The basic principle of multi-sensor information fusion processing is similar to the information processing process of human brain. Through the reasonable analysis and use of feedback information from multiple sensors, the influence of various single sensors on space and time limitations can be reduced, and through the analysis of redundant information, the characteristics of the detected object can be reflected more perfectly and accurately,The uncertainty of information is eliminated, and the consistent results with high feasibility for the observation environment are obtained.Indoor navigation and positioning technologySweeping robot needs to move autonomously. Whether it is local real-time obstacle avoidance or global planning, it needs to accurately determine the current state and position of robot or obstacle to complete the tasks of navigation, obstacle avoidance and path planning.Generally, the navigation and positioning of indoor mobile robot are realized by dead reckoning method, beacon positioning method and hybrid positioning method.Dead reckoning is one of the most commonly used methods. Through the robot's own odometer, gyroscope, accelerometer and other internal sensors, the speed and attitude information of the robot can be calculated in real time.Taking the starting point as the absolute zero point, the current position and attitude of the robot can be calculated gradually and accumulatively.With the increase of working time, the error caused by integration operation error and timing system time difference will accumulate gradually, so it is not suitable for long-time accurate positioning.The movement of the sweeping robot on the indoor floor can be regarded as the movement in the two-dimensional plane. If the indoor beacons (such as charging piles or other beacons meeting the conditions of beacons) are allowed to be arranged, the relative distance and pose between the robot and the beacons can be detected by sensors to realize the indoor navigation and positioning of the sweeping robot.The advantage of beacon positioning is that it can realize real-time positioning| ，Figure 2: common path planning algorithmsThere is no accumulated error, and the accuracy is stable. The robot can calibrate each other's positions by redundant coverage of multiple beacons, or when a beacon fails, the robot can still locate successfully.The hybrid positioning method combines the advantages of dead reckoning method and beacon positioning method.roadPath planning algorithmIn the working process of the sweeping robot, the sweeping area should be fully covered and the walking paths should not overlap. Therefore, the optimal path planning should be carried out according to one or some optimization criteria to find an optimal path from the initial state to the target state in its workspace, which can avoid obstacles.According to the grasp degree of environmental information, we can divide path planning into global path planning based on known map and local path planning based on sensor information.From the static or dynamic point of view, global path planning belongs to static planning (offline planning), and local path planning belongs to dynamic planning (online planning).Global path planning needs to establish a detailed map of the workspace, and carry out path planning according to the environmental information contained in the map;Local path planning determines the location of the map and the distribution of local obstacles according to the real-time environment information collected by the sensor, so as to select the optimal path from the current node to the adjacent sub target node.The common path planning algorithms are artificial potential field algorithm, Dijkstra algorithm, Floyed algorithm and Bellman algorithm_Ford improved algorithm), a * algorithm, D * algorithm, DWA algorithm, graph theory shortest algorithm, genetic algorithm, cellular automata algorithm, immune algorithm, tabu search algorithm, simulated annealing algorithm, artificial neural network algorithm, ant colony algorithm, particle swarm optimization algorithm, etc.Development trend of sweeping robot technologyFinancial application with high cost performancepassSynesthesiaAt present, infrared sensors, contact sensors, ultrasonic sensors and so on are mostly used in the floor sweeping robot, and a few high-end models use line scan lidar sensors.For the needs of indoor positioning and complex path planning of intelligent sweeping robot, the information provided by sensors is still insufficient.In the future, the application of vision sensor (depth camera, bionic vision, structured light sensor), low-cost high-performance lidar sensor, soft anti-collision contact sensor and other high-performance and new sensors will provide richer reference information for the decision-making of the sweeping robot.At the same time, in the algorithm level, we need to dig deep into the multi-sensor information fusion processing algorithm, extract effective information from the complex sensor feedback information, and make decisions according to the optimization strategy rules.The modular integration of household functions realizes the multi task function of intelligent sweeperimplementOn the basis of realizing the basic functions of sweeping, vacuuming and mopping, modular integration, such as air purification, humidification, communication, indoor toys, children's writing board and other functional modules, realizes the multi-purpose of intelligent sweeping robot.The body of sweeping robot can be platformized, that is, it can realize the function of indoor intelligent mobile platform, which has the basic functions of obstacle avoidance, path planning, software and hardware interaction interface, while other functions are loaded in the form of modularization, which gives users more independent choices and realizes the expansion of market segmentation.Improve the intelligence level and expand the application of intelligent algorithmWith the gradual development of speech recognition technology and image processing technology, such as sound source localization and voiceprint recognition technology, the maturity of face recognition technology, and the improvement of object recognition technology performance, we can more effectively improve the integration of floor sweeping robot into the home environment, and enhance the intelligent interaction ability between floor sweeping robot and family members.At the same time, we should study and design various intelligent human-computer interfaces, such as multilingual voice, natural language understanding, image, handwritten character recognition, etc., in order to better adapt to different users and different application tasks, improve the harmony of human robot interaction, and realize the simplification, diversification, intelligence and humanization of human-computer interaction.As the biggest selling home service robot at present, intelligent floor sweeping robot will be able to learn language by itself in the future, and learn from others in the social environment, so as to transform this language ability into the ability of autonomous learning and problem-solving.In the future, robots will master more autonomous ability to realize the essential innovation and development of intelligent sweeping robot function positioning.The saving of sweeper networkimplementspotAt present, some intelligent sweeping robots have realized remote control function through network connection, and some sweeping robots have also installed monitoring cameras to realize remote security monitoring function.As a network terminal node, sweeping robot has its unique advantages of small size and mobility, which can extend a variety of network node functions, such as remote security, smart home, video / voice communication terminal, health assistant, accompany chat and so on.Good prospectsSweeping robot market is in a period of continuous development and growth.In order to continuously improve the user experience and fit the needs of actual functions, the floor sweeping robot will continue to evolve and improve. It will continue to develop in the aspects of fusion sensor system, function positioning, intelligent degree, network service, multi machine cooperation and self-learning, so as to realize the real significance of intelligent of the floor sweeping robot, and make the floor sweeping robot develop into people's home high-tech partner.“技术”方为扫地机器人的“王道” 文/蔡月日文/蔡月日目前，扫地机器人俨然成为了服务机器人领域的“香饽饽”。刚刚过去的双十一，扫地机器人各大品牌赚得不亦乐乎。可就在这个风光的“摇钱树”背后，到底隐藏了多少技术？未来，它又将何去何从？从本文一窥便知。经过长期的发展，工业机器人在技史较短。目前，学术界对服务机器人没有严术上已较为成熟，但服务机器人格意义上的定义。国际机器人联合会（IFR）近年才获得广大科研人员和企业给出的服务机器人概要定义为：服务机器人重视，并逐步进入普通百姓家庭，其发展历是一种半自主或全自主工作的机器人，它能 2016年第18期 69完成有益于人类健康的服务工作。服务机器人应用范围极为广泛，如教育、娱乐、特种（安防、军用）、导购、迎宾、医疗、金融、物流、电子商务、商务秘书等。其中，家庭清洁机器人是现阶段销售数量最多、应用范围最广的一类服务机器人。家庭清洁机器人种类繁多，主要包括扫地机器人，拖地机器人、窗户清洁机器人、空气净化机器人、吸尘机器人等。扫地机器人则是家庭清洁机器人的最主要成员，市场占比达到96%以上。服务机器人的需求量已超过工业机器人，表现出更为强劲的市场需求，提供了更为广阔的市场想象空间。服务机器人能够满足人们日常生活中的一些实际需求，并且大多数市场定价在几百图1：服务机器人概要分类元至几千元的范围内，近几年其市场规模实现了爆炸式增长。根据 IFR 统计数据显示， 2014 年全球服务机器人销量达到 330 万台，销售额约为 12 亿美元，同比增长 24%。预计 2015 年至 2018 年期间，服务机器人销量将会大幅增长，累计销量可达 2590 万台，销售额预计可累计达到 122 亿美元。同时，根据我国相关研究单位的预测，中国服务机器人市场规模，有望在 2017 年突破 200 亿元。扫地机器人发展现状随着科学技术的进步和社会发展，特别是受生活节奏的加快和工作压力的增大影响，人们希望更多地从繁琐的家庭日常清洁事务中解脱出来。这无疑是清洁机器人进入家蔡月日 北京航空航天大学机器人研究所研究员、北京航空航天大学机械工程及自动化学院博士后 | 表1：各品牌典型扫地机器人与主要功能特点机器人品牌产品图片形状主要功能特点FM-750BFMART 福玛特圆形云守护安防系统、环境自动识别系统，感应防碰撞，沿边、左旋、右旋、螺旋和重点循环等多种清扫方式。位置识别，通过机身摄像头创建房间地图，支持 iOS 及Roomba 980iRobot圆形Android 应用、自动回充电桩、自主避障、防跌落等功能。V750Dibea 地贝圆形陀螺仪导航、清扫路径规划、弓字式路径行走、防跌落、自动回充电桩，自动、重点、沿边、预约等清扫模式。自动充电、预约清扫、无线遥控、防碰撞、防缠绕、防跌落、莱尔克斯 -A338LIECTROUX圆形灰尘识别、室内 GPS 导航、双向虚拟墙，可避免无规律无方向乱走。 Suzuka 铃鹿Proscenic圆形多普勒效应原理自动调节功率、 HSIR+多点矩阵智能系统、行走路线智能规划，避免随机乱走；防碰撞、防跌落、越障、语音功能。国王国王圆形防跌落、防碰撞，无线遥控，越障 / 爬坡，智能清扫、智能脱困、虚拟墙等功能。人机互动、三段式清扫、智能路线规划、防跌落、智能脱困、智小兔 智宝圆形Botvac ConnectedNeatoU 形内置 WIFI 功能，可通过 iOS 或 Android 应用远程控制，具备“强劲”和“生态”清洁模式。VR9000 POWERBot三星U 形配备激光指针遥控器，可实现精确遥控清扫功能。自动回充电桩功能。智能检测、遥控指挥传感器、防撞 / 撞击调整传感、灰尘FC8820飞利浦 PHILIPS圆形自动识别、虚拟墙功能、障碍回弹功能等。“三叶虫”扫地机器人全世界第一款全自动扫地机器人。随后 iRobot 公司先后生产了 7 代家务机器人 Roomba，成为了这一领域的代表产品系列。2010 年左右，国内的扫地机器人品牌纷纷涌现，并逐步实现产业化。目前，国内市场已拥有几十家扫地机器人品牌，如科沃斯、 iRobot、福玛特、地贝、Xrobot、海尔、美的、 Prosenic、飞利浦和三星等。但是，本土成立且具备核心研发能力的扫地机器人企业占比并不高。近几年，扫地机器人正在以惊人的速度普及，市场发展十分迅猛。前期发展阶段，扫地机器人主要以改进扫地效能为主。现阶段，扫地机器人在保证提供较优良的清洁效果后，势必转向多传感器融合、导航、路径规划等智能化核心技术的发展方向上。扫地机器人关键技术用户直观可见的扫地机器人基本功能为清扫、吸尘、拖地等，因此相关企业在清扫毛刷的材料、结构形式、旋转速度 / 方式，以及吸尘原理、吸尘机构形式、拖布材料、拖布布置方式、供水量、供水方式等基本功能原理和技术方面不断优化。同时，为了实现更好的清洁效果、更良好的用户体验，扫地机器人在人工智能相关领域涉及到如下几项关键技术。多传感器信息融合技术多传感器信息融合是指综合来自多个传感器的感知数据，以便产生更可靠、更准确或更全面的机器人状态信息，如在扫地机器人中融合激光雷达、超声传感器、红外传感器、里程计的信息等。多传感器信息融合处理的基本原理类似于人类大脑处理信息的过程，能够通过对多种传感器反馈信息的合理分析与使用，得以降低各种单一传感器在空间和时间局限性方面的影响，并且通过冗余信息的解析，更加完善和更加精确地反映出检测对象的特性，消除信息的不确定性，得到对观测环境具备较高可行性的一致性结果。室内导航和定位技术扫地机器人需要自主移动，无论是局部实时避障，还是全局规划，都需要较精
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