A cleaning robot system and its measurement and control method

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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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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