Garbage pickup robot based on visual semantic SLAM (simultaneous localization and mapping)

A technology of robots and robot ontology, applied in the field of intelligent robots, can solve problems such as inconvenient recycling, achieve the effect of improving efficiency and safety, overcoming singleness and inefficiency, and saving manpower and material resources

Inactive Publication Date: 2020-07-03
BEIJING UNIV OF TECH
View PDF5 Cites 17 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The problem to be solved by the present invention is: some garbage is inconvenient to be recycled manually. In order to save manpower and material reso

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Garbage pickup robot based on visual semantic SLAM (simultaneous localization and mapping)
  • Garbage pickup robot based on visual semantic SLAM (simultaneous localization and mapping)
  • Garbage pickup robot based on visual semantic SLAM (simultaneous localization and mapping)

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] In order to make the technical means, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below in conjunction with the accompanying drawings.

[0029] The garbage picking robot based on visual semantic SLAM disclosed in the present invention includes two parts: a robot body and a visual semantic SLAM control system.

[0030] Its robot body is as figure 1As shown, it mainly includes a chassis (2), and the chassis (2) is also provided with a walking assembly 1 controlled by a microcomputer; an integrated warehouse (3) located on the top of the chassis (2), in which There are microcomputers, inertial measurement sensors, and a visual semantic SLAM system installed on the microcomputer; a garbage recycling mechanism (4) is set above the integrated warehouse (3), and the garbage recycling mechanism specifically includes recyclable garbage, hazardous garbage, kitchen waste, and other There are four parts o...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a garbage pickup robot based on visual semantic SLAM (simultaneous localization and mapping). The robot comprises a robot body and a visual semantic SLAM system. The robot bodycomprises a base plate, an integrated bin arranged above the base plate, a traveling assembly on the base plate, a garbage recovery mechanism, a lifting mechanism, a mechanical arm and a camera. Thenavigation camera is used to acquire image information, an inertial measurement sensor can detect obstacle information, and the image information and acceleration and angular velocity information of the robot during movement are transmitted to the SLAM system for decision-making, so that the garbage pickup robot is controlled to perform map construction, positioning, navigation and dynamic obstacle avoidance. The visual semantic SLAM system can identify and classify garbage by constructing semantic maps, and a mechanical arm control system controls the mechanical arm to pick up the garbage andput the garbage into a corresponding garbage recycling device. In addition, the problems that the boundary of an object is not accurate enough and accuracy and robustness of the system are reduced when a moving object appears in the scene are solved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a garbage picking robot based on visual semantic SLAM. Background technique [0002] In order to realize the application of mobile robots, a key issue is to realize autonomous positioning and environment perception. In many scenarios involving robot applications, such as path planning, environment perception, obstacle avoidance, etc., the process of localization and mapping is regarded as a prerequisite. Simultaneous Localization and Mapping (SLAM for short) technology can build a map of the environment during the movement process and perform autonomous positioning at the same time without prior information of the environment after being equipped with sensors. When using a camera as a sensor, it is less expensive and easy to put on commodity hardware. Therefore, visual SLAM technology can be applied to most environments, and has the characteristics of strong real-tim...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J5/00B25J9/16B65F3/00
CPCB25J5/007B25J9/1661B25J9/1664B25J9/1666B25J9/1697B65F3/001
Inventor 郭俊宁王志强朱青
Owner BEIJING UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap