Aiming at the problems of difficult attitude control on the move and unplanned cleaning of the sweeping robot,a sweeping robot system taking a STM32F030R8T6 microcontroller as the main controller, singleaxis gyroscope GGPM01 as the attitude angle detecting sensor and the bowshaped cleaning method as the path planning is designed in this paper.Because of the random error and noise interference of the gyroscope data,the Kalman filter algorithm is used to fuse the gyroscope and photoelectric encoder data to calculate the current optimal yaw angle estimation value of the robot.Then the optimal yaw angle and the robot speed are used as the feedback amount to form the cascade PID control to realize the linear travel of the robot. Finally,the bowshaped algorithm is used to realize the path planning.Through the simulation and software test of the system,the robot travels at a speed of 10.2~12.6 m/min with a maximum angular offset of 0.4°,which verifies the functional characteristics of the sweeping robot and the effectiveness of the algorithm.