An obstacle avoidance of large-scale indoor tricycle drive cleaning robot using laser scanner

摘要

Less offspring and aging are global issues that will be a bad news for cleaning work that requires a lot of manpower; the nightly cleaning jobs for large-scale indoor spaces introduce workers' overwork/fatigue problem. This study proposes a robot suitable for night time cleaning, which uses the industrial computer as the software control core, the AVR MCU for the control hardware part, the various obstacles avoidance sensors, and the cleaning mode algorithms. In the section of mechanism design, with a rotating space detection capability, the robot can safely avoid the steering into the corner. Users can utilize the interface for remote control and remote monitoring, allowing users to see the details of the cleaning and handling of goods transportation; remote monitoring can provide the video of robot's cleaning, so that users knows the cleaning status. Large-scale space cleaning robots used in the late night hours manage to transfer the original late-night cleaning manpower to the peak hours, not only solve the problem of late-night work but also solve the problem of lack of manpower during peak hours.