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青岛黄海职业学院

毕 业 设 计（论 文）

设计(论文)题目：全自动吸尘器

姓 名 学 号 系 部 专 业 年 级 指导教师

2013年10月28日

摘要

全自动吸尘器将移动机器人技术和吸尘器技术有机地融合起来,实现室内环境(地面)的半自动或全自动清洁,替代传统繁重的人工清洁工作,近年来已受到国内外的研究重视。作为智能移动机器人的一个特殊应用,从技术层面上讲,智能化自主式吸尘器比较具体地体现了移动机器人的多项关键技术,具有较强的代表性。从市场前景角度讲,自主吸尘器将大大降低劳动强度、提高劳动效率,适用于家庭和公共场馆的室内清洁。因此开发自主智能吸尘器既具有科研上的挑战性,又具有广阔的市场前景。

利用了超声波测距的原理，通过向前进方向发射超声波脉冲，并接收相应的返回声波脉冲，对墙壁等进行判断；通过以单片机为核心的控制器实现对超声发射和接收的选通控制，并在处理返回脉冲信号的基础上加以判断，选定相应的控制策略；通过驱动器驱动两步进电机，带动驱动轮，从而实现行走转向等功能；通过红外线热释电传感器对人的活动进行检测，减少人对吸尘器行走的影响。在吸尘器行走的同时，由其自身携带的小型吸尘部件，对经过的地面进行必要的吸尘清扫。当吸尘器电力不足时，它会自动寻找充电插头上发射的红外线，找到充电后其尾部的松耦合变压器靠近插头实现充电。当蓄电池的电充满后自动返回未完成的任务。

关键词: 单片机 超声波传感器 电子罗盘 红外线热释电传感器

松耦合变压器 步进电机

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Abstract

Automatic cleaner mobile robot technology and vacuum technology organically fuses and realize the indoor environment (ground) or automatic, semi-automatic cleaning to replace the traditional manual cleaning work hard at home and abroad in recent years, the research has been seriously. As intelligent mobile robot is a special applications, technically speaking, intelligence autonomous cleaner is concretely embodies the key techniques of the mobile robot, strong representation. From the Angle of market prospect, independent cleaner will greatly reduce the labor intensity, improve work efficiency, suitable for family and public venues indoor cleaning. So the development of independent intelligent cleaner is challenging, and research on the broad market prospect.

Using the principle of the ultrasonic ranging, through the forward direction, and receive launch ultrasonic pulse corresponding returns on wall, sonic pulse judgment; etc. Through the controller based on singlechip of ultrasonic transmission and reception for the control and processing in the back pulse signal, selected based on the corresponding control strategy, Through the actuator two stepper motor driving wheel drive, walking, so as to achieve the function such as steering,

Pyroelectric infrared sensors through to people's activities, reduce the influence of vacuum cleaner to walk. While walking in the vacuum cleaner, by its own small parts, and carry on the dust of the ground through the necessary dust cleaning. When the vacuum cleaner power shortage, it will be looking for charging plug the ir, find the charging its tail loose coupling transformer near the plug realize charging. When the battery electric full automatic return after the unfinished tasks.

Keywords : SCM Ultrasonic sensors Electronic compass Heat-releasing infrared sensors

Loose coupling transformer Stepping motor

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