A cleaning robot system and its measurement and control method

A technology for robots and PTZ control, applied in the field of robots, can solve the problems of inflexible map construction and environmental impact of cleaning robots, and achieve the effects of accurate distance, improved adaptability, and improved cleaning efficiency

Inactive Publication Date: 2015-07-29
HOHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] Purpose of the invention: The present invention proposes a cleaning robot system and its measurement and control method, which solves the shortcomings of existing cleaning robots that are easily affected by the environment, need additional base station support, and map construction is not flexible enough

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  • A cleaning robot system and its measurement and control method
  • A cleaning robot system and its measurement and control method
  • A cleaning robot system and its measurement and control method

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Embodiment Construction

[0032] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various aspects of the present invention Modifications in equivalent forms all fall within the scope defined by the appended claims of this application.

[0033] Such as figure 1As shown, the present invention proposes an indoor cleaning robot based on machine vision and multi-sensor information fusion, including a central subsystem for data processing, a visual subsystem for capturing images, a measurement subsystem for measuring distances from obstacles, and a walking subsystem. system, suction subsystem, and power subsystem that provides power supply to all subsystems of the device. The central subsystem 01 is composed...

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Abstract

The invention discloses a cleaning robot system based on vision measurement and a measurement and control method of the cleaning robot system. The cleaning robot system comprises a central subsystem, a dust absorption subsystem, a travelling subsystem, a measurement subsystem, a power supply subsystem and a vision subsystem, and particularly, a direction angle sensor (an electronic compass) is further introduced into the measurement subsystem. The measurement and control method of the cleaning robot system comprises a map building method, a travelling detection mechanism, a map modification method, a self-positioning method and the like. Two distance measurement modes of line structured light binocular stereoscopic vision and ultrasound, and a map is built with visual image characteristics fused, so that the map has the advantages of being accurate, fine-grained and rich in information; and the self-positioning method uses local invariant features of the visual image as the reference point, so that additional base stations are not needed. According to the cleaning robot system and the measurement and control method, the adaptability to unstructured environments of the cleaning robot, the travelling estimation accuracy and cleaning efficiency are improved apparently.

Description

technical field [0001] The invention relates to a cleaning robot system and a measurement and control method thereof, belonging to the field of robots. Background technique [0002] In recent years, indoor cleaning robots have attracted much attention, and people have higher and higher requirements for their intelligence. Traditional indoor cleaning robots usually have two path planning methods: non-map navigation and map-based navigation. Map-based navigation represents the development direction of cleaning robots, and its map construction method reflects the intelligence of cleaning robots. The environmental monitoring methods of common map construction methods include: infrared sensors, ultrasonic sensors, binocular stereo vision, structured light machine vision, etc. The self-positioning technology during the robot's travel often uses encoders, gyroscopes, etc. to calculate the robot's orientation per unit time Variety. [0003] In the prior art, Chinese Patent Publica...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/00
Inventor 韩磊徐立中王鑫沈洁
Owner HOHAI UNIV
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