Control method of waste recycling robot based on deep q-network

A control method and robot technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problem of limited use range of sweeping robots, and achieve the effect of improving applicability

CN108415254BActive Publication Date: 2020-12-11SUZHOU UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2020-12-11

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Abstract

The invention discloses a deep Q network based waste recovery robot device and a control method thereof. The device is characterized by comprising a sensing system, a control system, a work system anda driving system; the sensing system senses position information of an object in front of a robot, and represents the position information via image information; the control system controls a grabbing arm of a robot to grab the object and place the object in an accommodation mechanism; the work system receives information of the control system and executes different motions; the driving system provides power for the work system to execute the different motions of the control system; and the sensing system collection environment information and driving system information, and transmits the environment information and driving system information to the control system, the control system carries out calculating and processing according to the received information, and sends information to thework and driving systems, and the robot is driven to execute the corresponding motions. The method and device are applied to a reinforcement learning algorithm in the field of artificial intelligence, parameters of the neural network can be learned and updated autonomously, and the waste recovery of the robot is controlled.
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Description

technical field

[0001] The invention belongs to the field of artificial intelligence and control technology, and in particular relates to a control method for a waste recycling robot based on a deep Q network, which can perform self-learning and complete the grasping control of objects by the robot. Background technique

[0002] In recent years, the application of artificial intelligence in family life has become more and more extensive, forming the concept of smart home. Among them, the sweeping robot is a small automatic control robot with artificial intelligence for cleaning household hygiene. At present, sweeping robots have been well applied in the market. The application of sweeping robots has partially liberated people from housework and chores, and has been well received by people.

[0003] However, the current cleaning objects of sweeping robots are mainly for ground dust, and the ground can only be cleaned by vacuuming, so it is only suitable for household cleanin...

Examples

Embodiment

[0043] Example: see attached Figure 1~3 As shown, a waste recycling robot device based on a deep Q network, including a sensing system, a control system, an operating system and a driving system, is characterized in that:

[0044] The sensing system: including a camera and an image acquisition device, used to perceive the position information of objects in front of the robot, represented by image information;

[0045] The control system: used to control the robot's grasping arm to grasp objects and place objects in the storage mechanism, and control the rotation angle of the rotation mechanism;

[0046] The operating system: includes a robot grabbing arm, a rotating mechanism, and a storage mechanism, receives information from the control system, and performs various actions;

[0047] The drive system: includes a motor and a battery, which are used to provide power for the operation system to perform various actions of the control system;

[0048]The sensing system collects...