Home arrangement mobile robot based on ROS

A mobile robot and algorithm technology, applied in the field of robotics, can solve problems such as the limited size of garbage types

Inactive Publication Date: 2021-07-13
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem of the shortcomings of the limited size of the garbage that the existing sweeping robot can clean up; the purpose of the present invention is to provide a ROS-based housekeeping mobile robot

Method used

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  • Home arrangement mobile robot based on ROS
  • Home arrangement mobile robot based on ROS
  • Home arrangement mobile robot based on ROS

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Embodiment Construction

[0030] In order to make the object, technical solution and advantages of the present invention clearer, the present invention is described below through specific embodiments shown in the accompanying drawings. It should be understood, however, that these descriptions are exemplary only and are not intended to limit the scope of the present invention. The structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention. Therefore, Without technical substantive significance, any modification of structure, change of proportional relationship or adjustment of size shall still fall within the technology disclosed in the present invention without affecting the effect and purpose of the present invention. within the scope of the conten...

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Abstract

The invention discloses a home arrangement mobile robot based on an ROS, and relates to the technical field of robots. The method comprises the following steps: 1, adopting a positioning and mapping algorithm; 2, adopting a path planning method; 3, performing ROS robot modeling and simulation, wherein simulation is conducted in Rviz and Gazebo, mapping and automatic navigation are achieved, and a mechanical arm grabs a target object; 4, forming a robot; 5, performing visual identification; and 6, establishing mechanical arm: adopting ROS Moveit!. The software package serves as a mechanical arm motion planning software package; according to the invention, monocular vision shooting of an object is realized to obtain a matched image pair, image preprocessing and stereo matching are carried out, accurate positioning of a target object is realized, and recognition of target garbage is realized in combination with deep learning; and the robot is used for carrying out function testing of map building, automatic navigation and garbage grabbing on the indoor environment.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a ROS-based house sorting mobile robot. Background technique [0002] In recent years, with the continuous development of modern science and technology, service robots have gradually entered the market, such as intelligent food delivery robots, customer service robots, medical robots, escort robots, sweeping robots and so on. Service robot is a young member of the huge robot family, so far there is no strict definition. According to their different uses, they can be divided into cleaning robots, educational robots, medical robots, household robots, service robots and entertainment robots, with a wide range of applications. At present, the market share of educational robots is about 16%, that of customer service robots is about 7%, and that of medical and cleaning service robots is about 4%. [0003] As a kind of service robot, the sweeping robot liberates people from...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0251G05D1/0257G05D1/0223G05D1/0221G05D1/0276G05D2201/0203
Inventor 徐军杜丰收
Owner HARBIN UNIV OF SCI & TECH
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