Abstract: In order to solve the problems such as high intensity,low efficiency and hidden danger trouble,a control system of cleaning robot based on STM32 and LPC4300 is designed.Firstly,the scheme of control system based on electric push rod,servo motor and vacuum chuck is presented;Secondly,in order to improve the intelligent level of cleaning robot,a vision control system based on image sensor OV9715 as the image acquisition unit and LPC4300 as image processor is proposed;Then,aiming at the problem of image recognition in the cleaning process,an image recognition method based on HSI color space is proposed;Finally,the man-machine interface of the cleaning robot is designed.The test results show that the control system of the cleaning robot has the advantages of simple operation,flexible control and real time strong and so on,has a good application prospect.

Key words: cleaning robot, pattern recognition, intelligent cleaning, HSI color model