摘要室内清扫机器人属于服务型机器人研究的范畴，充分地将计算机技术、传感器技术、测控技术等各种先进技术进行有机的融合，应用在为人们的生活服务方面。近年来，如何实现对室内地面环境自动清扫，取代传统人工清扫过程的研究方向引起了各国研究人员的关注。37887
本课题的控制系统以单片机为核心，启动室内清扫机器人，该设计就会根据回溯算法对室内的环境进行路径规划，以犁田式的清扫路径开始运动，一边运动，一边对地面上的灰尘、纸屑等小型垃圾进行清扫。
安装在车体四周的传感器会实时检测周边环境，超声波测距传感器用于检测路面上的障碍物，一旦检测出机器人周围有障碍物，单片机就会接收到超声波信号，对系统进行避障处理；当清扫机器人的电量不足时，需要将机器人放到充电站进行充电。车体上装有两个驱动轮，一个转向轮，而车轮的转速是通过PWM脉宽调制进行调节的。车身上还设置了液晶显示和按键输入装置，用于实时显示时间以及方便用户设定清扫时间等。
毕业论文关键词:  清扫机器人      智能避障      路径规划
Abstract
Category Interior cleaning robot belongs to service robot research ,  fully combine computer technology, sensor technology, measurement and control technology and other advanced technology into organic integration, and its application services all around people's daily life. In recent years, how to achieve the indoor environment floor automatic cleaning and replace the traditional manual cleaning process research has been attracting the attention of national research staff.
The issue of the control system is mainly based on the microcontroller. Start indoor cleaning robot,then the design will be based on the indoor environment backtracking algorithm path planning to plow type of sweeping the path begins to move, while the movement, while the dust on the ground, confetti and other small garbage cleaning.
Sensors installed in the vehicle body around the surrounding environment will be real-time detection, ultrasonic distance sensor for detecting an obstacle on the road, once around the robot detects an obstacle, the microcontroller will receive an ultrasonic signal processing for obstacle avoidance system; When cleaning robot power is low, the charging station will emit infrared signal through the infrared sensor, the navigation signal the robot receives  can automatically return to the charging station for charging. Two drive wheels mounted on the vehicle body, a steering wheel, and the wheel speed is adjusted by the PWM pulse width modulation. Car body also set up a liquid crystal display and key input means for real-time display time, and user-friendly set cleaning time.
Keywords: cleaning robot   intelligent obstacle avoidance   path planning
目录
摘要    I
Abstract    II
1 绪论    1
1.1 课题研究背景及意义    1
1.2 国内外研究现状    2
1.2.1 国外研究现状    2
1.2.2 国内发展现状    3
1.3 研究目标与要求    3
2 系统设计方案分析论证    5
2.1 系统硬件结构总体设计方案    5
2.2 单片机主控模块的选择论证    5
2.3 车体结构设计论证    6
2.4 车轮电机选型方案论证    7
2.5 避障模块方案论证    8
2.6 显示系统方案论证    9
2.7 路径规划的研究论证    9
2.7.1 对于环境建模方法的选择论证    10
2.7.2 清扫机器人运动方式的选择论证    11 室内清扫机器人设计+电路图:http://www.751com.cn/jixie/lunwen_36755.html