Reconfigurable sweeping robot based on vision and control method thereof

• Main Authors: JIAO RIHUA, LIU JIAJUN, LEI CHENGLIN, HE JIAZHEN
• Format: Patent
• Language: Chinese; English
• Published: 29.10.2021
• Subjects: CALCULATING; COFFEE MILLS; COMPUTING; COUNTING; DOMESTIC ARTICLES OR APPLIANCES; DOMESTIC WASHING OR CLEANING; FURNITURE; HANDLING RECORD CARRIERS; HUMAN NECESSITIES; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS; SPICE MILLS; SUCTION CLEANERS IN GENERAL

The invention discloses a reconfigurable sweeping robot based on vision and a control method thereof. The reconfigurable sweeping robot comprises a robot body, universal wheels with motors and a guide rail lead screw mechanism, the universal wheels with the motors are used for driving the sweeping robot to advance, and the guide rail lead screw mechanism is connected with a connecting rod mechanism and used for changing the width of the sweeping robot; a visual recognition module used for acquiring a color image and a depth image of a road; a control module calculating the width information and the change included angle of the road according to the color image and the depth image, controls the guide rail lead screw mechanism to change the width of the sweeping robot according to the width information of the road, and during the width adjusting process of the sweeping robot, controlling rotating angle of the universal wheel according to the changing included angle of the road. 本发明公开了一种基于视觉的可重构扫地机器人及其控制方法，包括机器人