2024年3月29日发(作者：颜娟娟)
摘要
智能清洁机器人是通过一个控制芯片和其他模块结合，能够自动清扫家居环
境，减少清扫难度所设计出来的智能机器人。
本文将会对基于ATmega16为核心的智能清洁机器人的研发过程进行详细的
介绍，对该设计的所涉及的原理进行深入的分析。文章的基本组成包括系统方案
的论证、硬件系统的设计、软件系统的设计、系统的测试、总结等内容。本设计
最终将实现自动按照特定路线进行清扫工作、低电压自动充电的功能。
本系统采用的系统控制核心为ATmege16，通过超声波模块自身发射声波，
依靠超声波的反射和接收的原理,可以简单计算出机器人和障碍物的距离，设定
安全距离来躲避障碍物，可以达到避障的目的;通过在充电处放置一个红外发射
模块，发射特定的38KHZ的红外线，在清洁机器人上放置红外接受模块，当机器
人的主控芯片单片机检测到电量低于百分之二十时，可以自动行驶到充电插座处
执行自动充电。通过设定特殊的行走路线使智能清洁机器人更高效的进行清扫工
作。清洁机器人使用的清扫工具为一个真空吸尘模块。
关键词：智能清洁机器人；自动充电；超声波避障；红外模块
1
Cleaning Robot Based on AVR Single-chip Processor
Abstract
Intelligent cleaning robot is controlled by a chip is combined with other modules,
automatically cleaning the household environment, reduce the difficulty of cleaning
the design of intelligent robot.
This paper will be based on ATmega16 as the core of intelligent cleaning robot
research and development process in detail, involved in the design of the principle of
in-depth analysis. Article includes the basic component of system demonstration,
design of hardware system, software system design, system testing, summary and so
on. This design will automatically according to the specific route for cleaning work,
low voltage automatic charging function.
This system adopts the system control core for ATmege16, through ultrasonic
module emits sound waves, rely on the principle of ultrasonic reflection and receiving,
can calculate the distance of the mobile robot and obstacles, simple setting safe
distance to avoid obstacles, can achieve the purpose of obstacle avoidance; By
charging put an infrared emission module, specific 38 KHZ ir, placed on the robot
cleaner infrared receiving module, through the MCU A/D conversion,when the power
is less than the aggregate percentage, and can be run automatically to the outlet to
perform automatic charging. By setting special route to make intelligent cleaning
robot for cleaning work more efficient. Cleaning robot cleaning tools to a vacuum
dust collection module.
Keywords:
intelligent cleaning robot; automatic charging; ultrasonic obstacle
avoidance; infrared module
2
2024年3月29日发(作者：颜娟娟)
摘要
智能清洁机器人是通过一个控制芯片和其他模块结合，能够自动清扫家居环
境，减少清扫难度所设计出来的智能机器人。
本文将会对基于ATmega16为核心的智能清洁机器人的研发过程进行详细的
介绍，对该设计的所涉及的原理进行深入的分析。文章的基本组成包括系统方案
的论证、硬件系统的设计、软件系统的设计、系统的测试、总结等内容。本设计
最终将实现自动按照特定路线进行清扫工作、低电压自动充电的功能。
本系统采用的系统控制核心为ATmege16，通过超声波模块自身发射声波，
依靠超声波的反射和接收的原理,可以简单计算出机器人和障碍物的距离，设定
安全距离来躲避障碍物，可以达到避障的目的;通过在充电处放置一个红外发射
模块，发射特定的38KHZ的红外线，在清洁机器人上放置红外接受模块，当机器
人的主控芯片单片机检测到电量低于百分之二十时，可以自动行驶到充电插座处
执行自动充电。通过设定特殊的行走路线使智能清洁机器人更高效的进行清扫工
作。清洁机器人使用的清扫工具为一个真空吸尘模块。
关键词：智能清洁机器人；自动充电；超声波避障；红外模块
1
Cleaning Robot Based on AVR Single-chip Processor
Abstract
Intelligent cleaning robot is controlled by a chip is combined with other modules,
automatically cleaning the household environment, reduce the difficulty of cleaning
the design of intelligent robot.
This paper will be based on ATmega16 as the core of intelligent cleaning robot
research and development process in detail, involved in the design of the principle of
in-depth analysis. Article includes the basic component of system demonstration,
design of hardware system, software system design, system testing, summary and so
on. This design will automatically according to the specific route for cleaning work,
low voltage automatic charging function.
This system adopts the system control core for ATmege16, through ultrasonic
module emits sound waves, rely on the principle of ultrasonic reflection and receiving,
can calculate the distance of the mobile robot and obstacles, simple setting safe
distance to avoid obstacles, can achieve the purpose of obstacle avoidance; By
charging put an infrared emission module, specific 38 KHZ ir, placed on the robot
cleaner infrared receiving module, through the MCU A/D conversion,when the power
is less than the aggregate percentage, and can be run automatically to the outlet to
perform automatic charging. By setting special route to make intelligent cleaning
robot for cleaning work more efficient. Cleaning robot cleaning tools to a vacuum
dust collection module.
Keywords:
intelligent cleaning robot; automatic charging; ultrasonic obstacle
avoidance; infrared module
2