基于Stm32 掃地機(jī)器人的控制系統(tǒng)設(shè)計(jì)含3張CAD圖

基于Stm32 掃地機(jī)器人的控制系統(tǒng)設(shè)計(jì)含3張CAD圖,基于Stm32,掃地機(jī)器人的控制系統(tǒng)設(shè)計(jì)含3張CAD圖,基于,Stm32,掃地,機(jī)器人,控制系統(tǒng),設(shè)計(jì),CAD “技術(shù)”方為掃地機(jī)器人的“王道” "Technology" is the "King way" of floor sweeping robot By Cai yueri At present, the floor sweeping robot has become a "hot spot" in the field of service robot.Just in the past double 11, the major brands of sweeping robots have made a lot of money.But how much technology is hidden behind this "cash cow"?In the future, where will it go?We can see from this article. through After a long period of development, the history of industrial robot technology is relatively short.At present, there is no strict definition of service robot in the academic circle, which is technically mature, but the definition of service robot in the sense of personality.In recent years, International Federation of Robotics (IFR) has been given a brief definition of service robot by the majority of scientific researchers and enterprises. It is defined as: service robot attaches great importance to, and gradually enters ordinary people's families. Its development history is a semi autonomous or fully autonomous robot, which can work independently Complete the service work beneficial to human health. Service robots are widely used, such as education, entertainment, special (security, military), shopping guide, welcome, medical, finance, logistics, e-commerce, business secretary, etc.Among them, the home cleaning robot is a kind of service robot with the largest number of sales and the widest range of applications at this stage.There are many kinds of home cleaning robots, including sweeping robot, mopping robot, window cleaning robot, air cleaning robot, dust cleaning robot and so on.Sweeping robot is the most important member of household cleaning robot, accounting for more than 96% of the market. The demand of service robots has exceeded that of industrial robots, showing a stronger market demand and providing a broader market imagination. Service robots can meet some of the actual needs of people's daily life, and most of the market pricing is in the hundreds Figure 1: summary classification of service robots In recent years, its market scale has achieved explosive growth in the range of RMB to several thousand.According to IFR statistics, the global sales of service robots reached 3.3 million units in 2014, with a sales volume of about US $1.2 billion, an increase of 24% year on year.It is estimated that the sales volume of service robots will increase significantly from 2015 to 2018, with a total sales volume of 25.9 million units and a total sales volume of 12.2 billion US dollars.At the same time, according to the prediction of relevant research institutions in China, the market scale of China's service robot is expected to exceed 20 billion yuan in 2017. Development status of floor sweeping robot With the progress of science and technology and social development, especially affected by the acceleration of the pace of life and the increase of work pressure, people hope to be more free from the tedious household cleaning affairs.This is no doubt a clean robot into the home Cai yueri, researcher, Institute of robotics, Beijing University of Aeronautics and Astronautics, postdoctoral fellow, School of mechanical engineering and automation, Beijing University of Aeronautics and Astronautics | Table 1: typical floor sweeping robots of various brands and their main features robot brand Product picture shape Main features FM-750B Fmart fomat circular Cloud guard security system, environment automatic identification system, inductive anti-collision, edge, left-hand, right-hand, spiral and key circulation and other cleaning methods. Position recognition, creating room map through camera, supporting IOS and ??????? Roomba 980 iRobot round Android application, automatic recharge pile, autonomous obstacle avoidance, anti drop and other functions. V750 Dibea dibea circular Gyroscope navigation, cleaning path planning, bow path walking, anti drop, automatic recharge pile, automatic, key, edge, appointment and other cleaning modes. Automatic charging, reservation cleaning, wireless remote control, anti-collision, anti winding, anti falling, round dust identification of lex-a338 lithium, indoor GPS navigation, two-way virtual wall, can avoid irregular and disorientation. Suzuka Suzuka Proscenic circular Doppler effect principle automatically adjusts power, HSIR + multi-point matrix intelligent system, intelligent route planning, avoiding random random walking;Anti collision, anti falling, obstacle crossing, voice function. king king circular Anti drop, anti-collision, wireless remote control, obstacle / climbing, intelligent cleaning, intelligent escape, virtual wall and other functions. Human computer interaction, three-stage cleaning, intelligent route planning, fall prevention, intelligent escape, smart rabbit, smart treasure Botvac Connected Neato ? U-shape The built-in WiFi function can be remotely controlled through IOS or Android applications, with "strong" and "ecological" cleaning mode. VR9000 POWERBot Samsung U-shape Equipped with laser pointer remote control, it can realize precise remote control cleaning function. Automatic recharge point function. Intelligent detection, remote control command sensor, anti-collision / impact adjustment sensor, dust sensor ??????????? Fc8820 Philips round Automatic identification, virtual wall function, obstacle rebound function, etc. "Trilobite" sweeping robot - the world's first fully automatic sweeping robot.Subsequently, iRobot company has produced seven generations of home robot Roomba, which has become the representative product series in this field. 2010 Around 2000, domestic brands of floor sweeping robots emerged one after another and gradually realized industrialization.At present, there are dozens of sweeping robot brands in the domestic market, such as corworth, iRobot, fumart, Dibei, xrobot, Haier, Midea, prosenic, Philips and Samsung.However, the proportion of domestic enterprises with core R & D capabilities is not high. In recent years, sweeping robot is popularized at an amazing speed, and the market is developing rapidly.In the early stage of development, the main purpose of the sweeping robot is to improve the sweeping efficiency.At this stage, after ensuring better cleaning effect, the sweeper robot is bound to turn to the development direction of multi-sensor fusion, navigation, path planning and other intelligent core technologies. Key technologies of floor sweeping robot The basic functions of the sweeper robot that users can directly see are cleaning, dust collection, mopping, etc. Therefore, the relevant enterprises continue to optimize the material, structural form, rotation speed / mode of the sweeper brush, as well as the basic functional principle and technology of dust collection principle, dust collection mechanism form, mop material, mop layout, water supply quantity, water supply mode, etc.At the same time, in order to achieve better cleaning effect and better user experience, sweeping robot involves the following key technologies in the field of artificial intelligence. Multi information technologypassSensory syncopeletter Multi sensor information fusion refers to the synthesis of sensing data from multiple sensors in order to produce more reliable, more accurate or more comprehensive robot state information, such as the fusion of lidar, ultrasonic sensor, infrared sensor, odometer information in the sweeping robot.The basic principle of multi-sensor information fusion processing is similar to the information processing process of human brain. Through the reasonable analysis and use of feedback information from multiple sensors, the influence of various single sensors on space and time limitations can be reduced, and through the analysis of redundant information, the characteristics of the detected object can be reflected more perfectly and accurately,The uncertainty of information is eliminated, and the consistent results with high feasibility for the observation environment are obtained. Indoor navigation and positioning technology Sweeping robot needs to move autonomously. Whether it is local real-time obstacle avoidance or global planning, it needs to accurately determine the current state and position of robot or obstacle to complete the tasks of navigation, obstacle avoidance and path planning.Generally, the navigation and positioning of indoor mobile robot are realized by dead reckoning method, beacon positioning method and hybrid positioning method. Dead reckoning is one of the most commonly used methods. Through the robot's own odometer, gyroscope, accelerometer and other internal sensors, the speed and attitude information of the robot can be calculated in real time.Taking the starting point as the absolute zero point, the current position and attitude of the robot can be calculated gradually and accumulatively.With the increase of working time, the error caused by integration operation error and timing system time difference will accumulate gradually, so it is not suitable for long-time accurate positioning. The movement of the sweeping robot on the indoor floor can be regarded as the movement in the two-dimensional plane. If the indoor beacons (such as charging piles or other beacons meeting the conditions of beacons) are allowed to be arranged, the relative distance and pose between the robot and the beacons can be detected by sensors to realize the indoor navigation and positioning of the sweeping robot.The advantage of beacon positioning is that it can realize real-time positioning | ， Figure 2: common path planning algorithms There is no accumulated error, and the accuracy is stable. The robot can calibrate each other's positions by redundant coverage of multiple beacons, or when a beacon fails, the robot can still locate successfully. The hybrid positioning method combines the advantages of dead reckoning method and beacon positioning method. roadPath planning algorithm In the working process of the sweeping robot, the sweeping area should be fully covered and the walking paths should not overlap. Therefore, the optimal path planning should be carried out according to one or some optimization criteria to find an optimal path from the initial state to the target state in its workspace, which can avoid obstacles. According to the grasp degree of environmental information, we can divide path planning into global path planning based on known map and local path planning based on sensor information.From the static or dynamic point of view, global path planning belongs to static planning (offline planning), and local path planning belongs to dynamic planning (online planning).Global path planning needs to establish a detailed map of the workspace, and carry out path planning according to the environmental information contained in the map;Local path planning determines the location of the map and the distribution of local obstacles according to the real-time environment information collected by the sensor, so as to select the optimal path from the current node to the adjacent sub target node. The common path planning algorithms are artificial potential field algorithm, Dijkstra algorithm, Floyed algorithm and Bellman algorithm_Ford improved algorithm), a * algorithm, D * algorithm, DWA algorithm, graph theory shortest algorithm, genetic algorithm, cellular automata algorithm, immune algorithm, tabu search algorithm, simulated annealing algorithm, artificial neural network algorithm, ant colony algorithm, particle swarm optimization algorithm, etc. Development trend of sweeping robot technology Financial application with high cost performancepassSynesthesia At present, infrared sensors, contact sensors, ultrasonic sensors and so on are mostly used in the floor sweeping robot, and a few high-end models use line scan lidar sensors.For the needs of indoor positioning and complex path planning of intelligent sweeping robot, the information provided by sensors is still insufficient. In the future, the application of vision sensor (depth camera, bionic vision, structured light sensor), low-cost high-performance lidar sensor, soft anti-collision contact sensor and other high-performance and new sensors will provide richer reference information for the decision-making of the sweeping robot.At the same time, in the algorithm level, we need to dig deep into the multi-sensor information fusion processing algorithm, extract effective information from the complex sensor feedback information, and make decisions according to the optimization strategy rules. The modular integration of household functions realizes the multi task function of intelligent sweeperimplement On the basis of realizing the basic functions of sweeping, vacuuming and mopping, modular integration, such as air purification, humidification, communication, indoor toys, children's writing board and other functional modules, realizes the multi-purpose of intelligent sweeping robot.The body of sweeping robot can be platformized, that is, it can realize the function of indoor intelligent mobile platform, which has the basic functions of obstacle avoidance, path planning, software and hardware interaction interface, while other functions are loaded in the form of modularization, which gives users more independent choices and realizes the expansion of market segmentation. Improve the intelligence level and expand the application of intelligent algorithm With the gradual development of speech recognition technology and image processing technology, such as sound source localization and voiceprint recognition technology, the maturity of face recognition technology, and the improvement of object recognition technology performance, we can more effectively improve the integration of floor sweeping robot into the home environment, and enhance the intelligent interaction ability between floor sweeping robot and family members. At the same time, we should study and design various intelligent human-computer interfaces, such as multilingual voice, natural language understanding, image, handwritten character recognition, etc., in order to better adapt to different users and different application tasks, improve the harmony of human robot interaction, and realize the simplification, diversification, intelligence and humanization of human-computer interaction. As the biggest selling home service robot at present, intelligent floor sweeping robot will be able to learn language by itself in the future, and learn from others in the social environment, so as to transform this language ability into the ability of autonomous learning and problem-solving.In the future, robots will master more autonomous ability to realize the essential innovation and development of intelligent sweeping robot function positioning. The saving of sweeper networkimplementspot At present, some intelligent sweeping robots have realized remote control function through network connection, and some sweeping robots have also installed monitoring cameras to realize remote security monitoring function.As a network terminal node, sweeping robot has its unique advantages of small size and mobility, which can extend a variety of network node functions, such as remote security, smart home, video / voice communication terminal, health assistant, accompany chat and so on. Good prospects Sweeping robot market is in a period of continuous development and growth.In order to continuously improve the user experience and fit the needs of actual functions, the floor sweeping robot will continue to evolve and improve. It will continue to develop in the aspects of fusion sensor system, function positioning, intelligent degree, network service, multi machine cooperation and self-learning, so as to realize the real significance of intelligent of the floor sweeping robot, and make the floor sweeping robot develop into people's home high-tech partner. “技術(shù)”方為掃地機(jī)器人的“王道” □文/蔡月日 □文/蔡月日 目前，掃地機(jī)器人儼然成為了服務(wù)機(jī)器人領(lǐng)域的“香餑餑”。剛剛過(guò)去的雙十一，掃地機(jī)器人各大品牌賺得不亦樂(lè)乎?？删驮谶@個(gè)風(fēng)光的“搖錢(qián)樹(shù)”背后，到底隱藏了多少技術(shù)？未來(lái)，它又將何去何從？從本文一窺便知。 經(jīng) 過(guò)長(zhǎng)期的發(fā)展，工業(yè)機(jī)器人在技 史較短。目前，學(xué)術(shù)界對(duì)服務(wù)機(jī)器人沒(méi)有嚴(yán)術(shù)上已較為成熟，但服務(wù)機(jī)器人 格意義上的定義。國(guó)際機(jī)器人聯(lián)合會(huì)（IFR）近年才獲得廣大科研人員和企業(yè) 給出的服務(wù)機(jī)器人概要定義為：服務(wù)機(jī)器人重視，并逐步進(jìn)入普通百姓家庭，其發(fā)展歷 是一種半自主或全自主工作的機(jī)器人，它能 2016年第18期 69 完成有益于人類(lèi)健康的服務(wù)工作。 服務(wù)機(jī)器人應(yīng)用范圍極為廣泛，如教育、娛樂(lè)、特種（安防、軍用）、導(dǎo)購(gòu)、迎賓、醫(yī)療、金融、物流、電子商務(wù)、商務(wù)秘書(shū)等。其中，家庭清潔機(jī)器人是現(xiàn)階段銷(xiāo)售數(shù)量最多、應(yīng)用范圍最廣的一類(lèi)服務(wù)機(jī)器人。家庭清潔機(jī)器人種類(lèi)繁多，主要包括掃地機(jī)器人，拖地機(jī)器人、窗戶清潔機(jī)器人、空氣凈化機(jī)器人、吸塵機(jī)器人等。掃地機(jī)器人則是家庭清潔機(jī)器人的最主要成員，市場(chǎng)占比達(dá)到96%以上。 服務(wù)機(jī)器人的需求量已超過(guò)工業(yè)機(jī)器人，表現(xiàn)出更為強(qiáng)勁的市場(chǎng)需求，提供了更為廣闊的市場(chǎng)想象空間。 服務(wù)機(jī)器人能夠滿足人們?nèi)粘Ｉ钪械囊恍?shí)際需求，并且大多數(shù)市場(chǎng)定價(jià)在幾百 圖1：服務(wù)機(jī)器人概要分類(lèi) 元至幾千元的范圍內(nèi)，近幾年其市場(chǎng)規(guī)模實(shí)現(xiàn)了爆炸式增長(zhǎng)。根據(jù) IFR 統(tǒng)計(jì)數(shù)據(jù)顯示， 2014 年全球服務(wù)機(jī)器人銷(xiāo)量達(dá)到 330 萬(wàn)臺(tái)，銷(xiāo)售額約為 12 億美元，同比增長(zhǎng) 24%。預(yù)計(jì) 2015 年至 2018 年期間，服務(wù)機(jī)器人銷(xiāo)量將會(huì)大幅增長(zhǎng)，累計(jì)銷(xiāo)量可達(dá) 2590 萬(wàn)臺(tái)，銷(xiāo)售額預(yù)計(jì)可累計(jì)達(dá)到 122 億美元。同時(shí)，根據(jù)我國(guó)相關(guān)研究單位的預(yù)測(cè)，中國(guó)服務(wù)機(jī)器人市場(chǎng)規(guī)模，有望在 2017 年突破 200 億元。 掃地機(jī)器人發(fā)展現(xiàn)狀 隨著科學(xué)技術(shù)的進(jìn)步和社會(huì)發(fā)展，特別是受生活節(jié)奏的加快和工作壓力的增大影響，人們希望更多地從繁瑣的家庭日常清潔事務(wù)中解脫出來(lái)。這無(wú)疑是清潔機(jī)器人進(jìn)入家 蔡月日 北京航空航天大學(xué)機(jī)器人研究所研究員、北京航空航天大學(xué)機(jī)械工程及自動(dòng)化學(xué)院博士后 | 表1：各品牌典型掃地機(jī)器人與主要功能特點(diǎn) 機(jī)器人 品牌 產(chǎn)品圖片 形狀 主要功能特點(diǎn) FM-750B FMART 福瑪特 圓形 云守護(hù)安防系統(tǒng)、環(huán)境自動(dòng)識(shí)別系統(tǒng)，感應(yīng)防碰撞，沿邊、左旋、右旋、螺旋和重點(diǎn)循環(huán)等多種清掃方式。 位置識(shí)別，通過(guò)機(jī)身攝像頭創(chuàng)建房間地圖，支持 iOS 及 Roomba 980 iRobot圓形 Android 應(yīng)用、自動(dòng)回充電樁、自主避障、防跌落等功能。 V750 Dibea 地貝 圓形 陀螺儀導(dǎo)航、清掃路徑規(guī)劃、弓字式路徑行走、防跌落、自動(dòng)回充電樁，自動(dòng)、重點(diǎn)、沿邊、預(yù)約等清掃模式。 自動(dòng)充電、預(yù)約清掃、無(wú)線遙控、防碰撞、防纏繞、防跌落、萊爾克斯 -A338 LIECTROUX圓形 灰塵識(shí)別、室內(nèi) GPS 導(dǎo)航、雙向虛擬墻，可避免無(wú)規(guī)律無(wú)方向亂走。 Suzuka 鈴鹿 Proscenic 圓形 多普勒效應(yīng)原理自動(dòng)調(diào)節(jié)功率、 HSIR+多點(diǎn)矩陣智能系統(tǒng)、行走路線智能規(guī)劃，避免隨機(jī)亂走；防碰撞、防跌落、越障、語(yǔ)音功能。 國(guó)王 國(guó)王 圓形 防跌落、防碰撞，無(wú)線遙控，越障 / 爬坡，智能清掃、智能脫困、虛擬墻等功能。 人機(jī)互動(dòng)、三段式清掃、智能路線規(guī)劃、防跌落、智能脫困、智小兔 智寶圓形 Botvac Connected Neato U 形 內(nèi)置 WIFI 功能，可通過(guò) iOS 或 Android 應(yīng)用遠(yuǎn)程控制，具備“強(qiáng)勁”和“生態(tài)”清潔模式。 VR9000 POWERBot 三星 U 形 配備激光指針遙控器，可實(shí)現(xiàn)精確遙控清掃功能。 自動(dòng)回充電樁功能。 智能檢測(cè)、遙控指揮傳感器、防撞 / 撞擊調(diào)整傳感、灰塵 FC8820 飛利浦 PHILIPS圓形 自動(dòng)識(shí)別、虛擬墻功能、障礙回彈功能等。 “三葉蟲(chóng)”掃地機(jī)器人——全世界第一款全自動(dòng)掃地機(jī)器人。隨后 iRobot 公司先后生產(chǎn)了 7 代家務(wù)機(jī)器人 Roomba，成為了這一領(lǐng)域的代表產(chǎn)品系列。 2010 年左右，國(guó)內(nèi)的掃地機(jī)器人品牌紛紛涌現(xiàn)，并逐步實(shí)現(xiàn)產(chǎn)業(yè)化。目前，國(guó)內(nèi)市場(chǎng)已擁有幾十家掃地機(jī)器人品牌，如科沃斯、 iRobot、?，斕亍⒌刎?、Xrobot、海爾、美的、 Prosenic、飛利浦和三星等。但是，本土成立且具備核心研發(fā)能力的掃地機(jī)器人企業(yè)占比并不高。 近幾年，掃地機(jī)器人正在以驚人的速度普及，市場(chǎng)發(fā)展十分迅猛。前期發(fā)展階段，掃地機(jī)器人主要以改進(jìn)掃地效能為主。現(xiàn)階段，掃地機(jī)器人在保證提供較優(yōu)良的清潔效果后，勢(shì)必轉(zhuǎn)向多傳感器融合、導(dǎo)航、路徑規(guī)劃等智能化核心技術(shù)的發(fā)展方向上。 掃地機(jī)器人關(guān)鍵技術(shù) 用戶直觀可見(jiàn)的掃地機(jī)器人基本功能為清掃、吸塵、拖地等，因此相關(guān)企業(yè)在清掃毛刷的材料、結(jié)構(gòu)形式、旋轉(zhuǎn)速度 / 方式，以及吸塵原理、吸塵機(jī)構(gòu)形式、拖布材料、拖布布置方式、供水量、供水方式等基本功能原理和技術(shù)方面不斷優(yōu)化。同時(shí)，為了實(shí)現(xiàn)更好的清潔效果、更良好的用戶體驗(yàn)，掃地機(jī)器人在人工智能相關(guān)領(lǐng)域涉及到如下幾項(xiàng)關(guān)鍵技術(shù)。 多傳感器信息融合技術(shù) 多傳感器信息融合是指綜合來(lái)自多個(gè)傳感器的感知數(shù)據(jù)，以便產(chǎn)生更可靠、更準(zhǔn)確或更全面的機(jī)器人狀態(tài)信息，如在掃地機(jī)器人中融合激光雷達(dá)、超聲傳感器、紅外傳感器、里程計(jì)的信息等。多傳感器信息融合處理的基本原理類(lèi)似于人類(lèi)大腦處理信息的過(guò)程，能夠通過(guò)對(duì)多種傳感器反饋信息的合理分析與使用，得以降低各種單一傳感器在空間和時(shí)間局限性方面的影響，并且通過(guò)冗余信息的解析，更加完善和更加精確地反映出檢測(cè)對(duì)象的特性，消除信息的不確定性，得到對(duì)觀測(cè)環(huán)境具備較高可行性的一致性結(jié)果。 室內(nèi)導(dǎo)航和定位技術(shù) 掃地機(jī)器人需要自主移動(dòng)，無(wú)論是局部實(shí)時(shí)避障，還是全局規(guī)劃，都需要較精確地確定機(jī)器人或障礙物的當(dāng)前狀態(tài)及位置，以完成導(dǎo)航、避障及路徑規(guī)劃等任務(wù)。一般地，機(jī)器人通過(guò)航位推算方法、信標(biāo)定位方法以及混合定位方法，實(shí)現(xiàn)室內(nèi)移動(dòng)機(jī)器人的導(dǎo)航和定位。 航位推算方法是最為常用的一種方法，通過(guò)機(jī)器人自身的里程計(jì)、陀螺儀、加速度計(jì)等內(nèi)部傳感器，實(shí)時(shí)解算機(jī)器人自身的速度、姿態(tài)信息。以出發(fā)點(diǎn)為絕對(duì)零點(diǎn)，則可以漸進(jìn)累加地推算出機(jī)器人當(dāng)前所在的位置和姿態(tài)。此種方法隨著工作時(shí)間的增加，積分運(yùn)算誤差和定時(shí)系統(tǒng)時(shí)差引起的誤差將會(huì)逐漸累積，因此不適于長(zhǎng)時(shí)間的精確定位。 掃地機(jī)器人在室內(nèi)地板上的運(yùn)動(dòng)可視為在二維平面內(nèi)的運(yùn)動(dòng)，如果室內(nèi)允許布置信標(biāo)（如充電樁或其他滿足信標(biāo)條件的標(biāo)志物），則可以通過(guò)傳感器，檢測(cè)機(jī)器人與信標(biāo)之間的相對(duì)距離與位姿，實(shí)現(xiàn)掃地機(jī)器人的室內(nèi)導(dǎo)航與定位。信標(biāo)定位的優(yōu)點(diǎn)是可實(shí)現(xiàn)實(shí)時(shí) | ， 圖2：常用的路徑規(guī)劃算法 檢測(cè)，沒(méi)有累積誤差，精度穩(wěn)定性好，且可通過(guò)多信標(biāo)冗余覆蓋的方式，彼此互為位置校準(zhǔn)或當(dāng)某個(gè)信標(biāo)故障時(shí)，機(jī)器人仍可成功定位。 混合定位方法融合了航位推算方法與信標(biāo)定位方法各自的優(yōu)勢(shì)。 路徑規(guī)劃算法 掃地機(jī)器人在工作過(guò)程中，需要盡量做到清掃面積全覆蓋且行走路徑不重疊，這就需要依據(jù)某個(gè)或某些優(yōu)化準(zhǔn)則進(jìn)行最優(yōu)路徑規(guī)劃，在其工作空間中找到一條從起始狀態(tài)到目標(biāo)狀態(tài)，可以避開(kāi)障礙物的最優(yōu)路徑。 根據(jù)對(duì)環(huán)境信息的把握程度，我們可以把路徑規(guī)劃分為，基于已知地圖的全局路徑規(guī)劃和基于傳感器信息的局部路徑規(guī)劃。其中，以獲取障礙物信息是靜態(tài)還是動(dòng)態(tài)的角度看，全局路徑規(guī)劃屬于靜態(tài)規(guī)劃（離線規(guī)劃），局部路徑規(guī)劃屬于動(dòng)態(tài)規(guī)劃（在線規(guī)劃）。全局路徑規(guī)劃需要建立工作空間的詳細(xì)地圖，根據(jù)地圖包含的環(huán)境信息進(jìn)行路徑規(guī)劃；局部路徑規(guī)劃則根據(jù)傳感器實(shí)時(shí)采集的周邊環(huán)境信息，確定所在地圖的位置及其局部的障礙物分布情況，從而可以選出從當(dāng)前結(jié)點(diǎn)到鄰近子目標(biāo)結(jié)點(diǎn)的最優(yōu)路徑。 常用路徑規(guī)劃算法主要有人工勢(shì)場(chǎng)法、 Dijkstra算法、Floyed算法、SPFA算法(Bellman_ Ford 改進(jìn)算法 )、A* 算法、D* 算法、DWA 算法、圖論最短算法、遺傳算法、元胞自動(dòng)機(jī)算法、免疫算法、禁忌搜索算法、模擬退火算法、人工神經(jīng)網(wǎng)絡(luò)算法、蟻群算法、粒子群算法等。 掃地機(jī)器人技術(shù)發(fā)展趨勢(shì) 高性價(jià)比、高性能傳感器的融合應(yīng)用 目前，掃地機(jī)器人多采用紅外傳感器、接觸式傳感器、超聲波傳感器等，少部分高端機(jī)型使用了線掃描激光雷達(dá)傳感器。對(duì)于智能化的掃地機(jī)器人室內(nèi)定位和復(fù)雜路徑規(guī)劃的需求而言，傳感器提供的信息尚顯不足。 將來(lái)，視覺(jué)傳感器（深度攝像頭、仿生視覺(jué)、結(jié)構(gòu)光傳感器）、低成本高性能激光雷達(dá)傳感器、軟體防碰撞接觸式傳感器等高性能、新型傳感器的應(yīng)用，將給掃地機(jī)器人決策提供更豐富的參考信息。同時(shí)，在算法層面，需要深挖多傳感器信息融合處理算法，在紛繁復(fù)雜的傳感器反饋信息中，提取有效信息，并根據(jù)優(yōu)化策略規(guī)則制定決策。 家用功能的模塊化集成，實(shí)現(xiàn)智能掃地機(jī)器人多任務(wù)功能 在實(shí)現(xiàn)掃地機(jī)器人基本的掃地、吸塵、拖地等功能的基礎(chǔ)上，模塊化集成，如空氣凈化、加濕、溝通交流、室內(nèi)玩具、兒童寫(xiě)字板等功能模塊，實(shí)現(xiàn)智能化掃地機(jī)器人的一專(zhuān)多用。掃地機(jī)器人本體可以平臺(tái)化，即實(shí)現(xiàn)室內(nèi)智能移動(dòng)平臺(tái)的功能，具備基本的避障、路徑規(guī)劃、軟硬件交互接口等功能，而其他功能均以模塊化的形式進(jìn)行加載，給用戶更多的自主選擇余地，實(shí)現(xiàn)細(xì)分市場(chǎng)的拓展。 智