The Development of Swarm Cleaning Robots with the Functions of Positioning and Path Planning

• Main Authors: Yen-Shao Chun, 顏紹鈞
• Other Authors: Long-Jyi Yeh
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/12026370557411253028

碩士 === 大同大學 === 機械工程學系(所) === 99 === This paper is proposed to develop swarm cleaning robots, which are equipped with basic capacity of map-building and path planning, and may achieve a better efficiency while cleaning in a larger area comparing with current cleaning robots. In order to achieve cleaning services with swarm intelligence ,two cleaning sub-mechanical robots and a host are used in this research. A notebook computer is used as the core of the host which is connected to two sub-mechanical cleaning robots with Bluetooth. When sub-mechanical cleaning robots are operating, information will be sent back to the host, enabling it to control the two sub-mechanical robots’ motion. The map-building function is accomplished with the combination of ultrasound and mechanical rotation. By using Bluetooth module, digital data gathered during the rotation can be transmitted to the host. This paper proposed a method that the host can build the map and program cleaning path by searching the wall. The core of the cleaning robot is Microchip 18F4520, which uses the ultrasonic module to measure distance between peripheral obstacles and itself, and as well uses Bluetooth to transmit the gathered information to the host. PWM function of IC-14F4520 is used as the car-driven method to control a motor controling IC-TA7279, and then DC motor would be propelled in order to control the cleaning robots’ velocity and reversal motor. This research develops a system which is based on a notebook computer host to control the swarm cleaning robots that having the capabilities of mapping and positioning.