title: Ð¡Ð¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼-Ð¿ÑÐ»ÐµÑÐ¾ÑÐ¾Ð¼
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: The control system of the robot vacuum cleaner
Creators: name: Ð¡ÑÑÐ¸Ñ, ÐÐ¸ÑÐ°Ð¸Ð»
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: ÑÐ¾Ð±Ð¾Ñ
ÑÐ¾Ð±Ð¾Ñ-Ð¿ÑÐ»ÐµÑÐ¾Ñ
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð½Ð° Ðrduino
Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ
robot
robot-vacuum cleaner
control system
simulation
programming on Ðrduino
optimization of motion algorithms

description: Ð¦ÐµÐ»ÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¿ÑÐ»ÐµÑÐ¾ÑÐ°. ÐÐ»Ñ Ð´Ð¾ÑÑÐ¸Ð¶ÐµÐ½Ð¸Ñ ÑÐµÐ»Ð¸ Ð² ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ ÑÐµÑÐ°Ð»Ð¸ÑÑ ÑÐ»ÐµÐ´ÑÑÑÐ¸Ðµ Ð·Ð°Ð´Ð°ÑÐ¸: 1.ÐÐ±Ð·Ð¾Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»ÐµÐ¹ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²-Ð¿ÑÐ»ÐµÑÐ¾ÑÐ¾Ð², 2.Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ½Ð¾Ð¹ ÑÐ°ÑÑÐ¸ Ð¿ÑÐ¾ÑÐ¾ÑÐ¸Ð¿Ð° ÑÐ¾Ð±Ð¾ÑÐ°-Ð¿ÑÐ»ÐµÑÐ¾ÑÐ°, 3.Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ, 4.ÐÐ¾Ð´Ð±Ð¾Ñ Ð½ÐµÐ¾Ð±ÑÐ¾Ð´Ð¸Ð¼ÑÑ Ð¼Ð¾Ð´ÑÐ»ÐµÐ¹ Ð´Ð»Ñ Ð¾ÑÑÑÐµÑÑÐ²Ð»ÐµÐ½Ð¸Ñ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ Ð¸ Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¸ Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ, 5.Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð´Ð»Ñ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾ Ð²ÑÐ±ÑÐ°Ð½Ð½Ð¾Ð¹ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸. ÐÑÐ¸Ð²ÐµÐ´ÐµÐ½ Ð¾Ð±Ð·Ð¾Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²-Ð¿ÑÐ»ÐµÑÐ¾ÑÐ¾Ð², Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÑ Ð½Ð° ÑÑÐ½ÐºÐµ, Ñ ÑÐµÐ»ÑÑ Ð²ÑÑÐ²Ð»ÐµÐ½Ð¸Ñ Ð´Ð¾ÑÑÐ¾Ð¸Ð½ÑÑÐ² Ð¸ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¾Ð² ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸. ÐÑÐ»Ð¸ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ Ð¿Ð¾ GPS, GNSS Ð¸ Ð¿Ð¾ Ð¼ÐµÑÐºÐ°Ð¼ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð¼ÐµÑÐ°Ð»Ð»Ð¾Ð¸ÑÐºÐ°ÑÐµÐ»Ñ. ÐÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ð° Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð´Ð²ÑÑ Ð¼Ð¾Ð´ÑÐ»ÐµÐ¹ GPS, Ð¾Ð´Ð¸Ð½ Ð¸Ð· ÐºÐ¾ÑÐ¾ÑÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð±Ð°Ð·Ð¾Ð²Ð¾Ð¹ ÑÑÐ°Ð½ÑÐ¸ÐµÐ¹ Ñ Ð¸Ð·Ð²ÐµÑÑÐ½ÑÐ¼Ð¸ ÑÐ¸ÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐ¼Ð¸ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÐ°Ð¼Ð¸. Ð¢Ð°ÐºÐ¶Ðµ Ð´Ð»Ñ Ð±Ð¾Ð»ÐµÐµ ÑÐ¾ÑÐ½Ð¾Ð¹ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð¸ Ð¾ÑÐ²Ð°ÑÐ° Ð²ÑÐµÐ¹ Ð¿Ð»Ð¾ÑÐ°Ð´Ð¸ ÑÐ±Ð¸ÑÐ°ÐµÐ¼Ð¾Ð³Ð¾ Ð¿Ð¾Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð² ÑÐ¾Ð±Ð¾ÑÐµ-Ð¿ÑÐ»ÐµÑÐ¾ÑÐµ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑÑÑÑ ÑÐ»ÑÑÑÐ°Ð·Ð²ÑÐºÐ¾Ð²ÑÐµ Ð´Ð°ÑÑÐ¸ÐºÐ¸, Ð´Ð°ÑÑÐ¸ÐºÐ¸ ÑÑÐ¾Ð»ÐºÐ½Ð¾Ð²ÐµÐ½Ð¸Ñ Ð¸ ÑÐ½ÐºÐ¾Ð´ÐµÑÑ. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð±ÑÐ»Ð° Ð¿Ð¾Ð»ÑÑÐµÐ½Ð° ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»ÑÐ½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¿ÑÐ»ÐµÑÐ¾ÑÐ° Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð´Ð»Ñ ÐµÐ³Ð¾ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ.
description: The purpose of this work is to develop a system of orientation in the space of a robot vacuum cleaner. To achieve the goal in the course of the work, the following tasks were solved: 1.Overview of repeated models of robotic vacuum cleaners, 2.Development of the hardware of the robot vacuum cleaner prototype, 3. Development of a system of orientation in space, 4. Selection of food products to control and transmit the position of the robot in space, 5. Development of motion algorithms along the chosen trajectory. An overview of robotic vacuum cleaners on the market is given in order to identify the advantages and disadvantages of existing methods for solving the problem. The systems of orientation in space by GPS, GNSS and by marks using a metal detector were considered. An orientation system was developed using two GPS modules, one of which is a base station with known fixed coordinates. Also, for more precise orientation and coverage of the entire area of the cleaned room, the robot vacuum cleaner uses ultrasonic sensors, collision sensors and encoders. As a result, a functional model of the developed robot vacuum cleaner was obtained, and algorithms were developed for its orientation in space.