智能扫地机器人

Intelligent Sweeping Robot

随着信息高速发展和生活、工作节奏的加快,人们需要从繁杂的家庭劳动中解脱出来,为此设计一款扫地机器人。该智能扫地机器人采用树莓派作为上位机,STM32作为下位机主要控制芯片,微信小程序作为客户端。下位机读取多种传感器的数据,对家庭的环境进行实时监测,并将检测的数据实时发送至客户端显示,将读取到的陀螺仪数据及电机编码数据发送给树莓派端进行扫地机器人的里程计运算。上位机将激光雷达扫描所建的地图进行路径规划,并将运动信息反馈给下位机进行运动控制;另一方面将摄像头的实时数据打包发送给客户端,供用户实时查看家庭情况。客户端实现微信小程序与机器人的信息交互,不仅能帮助用户打扫家庭的卫生还可以实时查看家庭室内环境。

With the rapid development of information and the acceleration of life and work rhythm,people need to be freed from complicated domestic labor,for this purpose,a sweeping robot is designed.The intelligent sweeping robot uses Raspberry Pi as the upper computer,STM32 as the main control chip of the lower computer,and WeChat applet as the client.The lower computer reads the data of various sensors,monitors the home environment in real time,sends the detected data to the client for display in real time,and sends the read gyroscope data and motor code data to the Raspberry Pi for sweeping.The odometry calculation of the robot.The upper computer performs path planning on the map created by the lidar scanning,and feeds back the motion information to the lower computer for motion control;on the other hand,the real-time data of the camera is packaged and sent to the client for the user to view the family situation in real time.The client realizes the information interaction between the WeChat applet and the robot,which can not only help users clean the home but also view the home indoor environment in real time.