吸尘机器人的研究现状与展望

吸尘机器人融合了移动机器人和吸尘器技术，成为服务机器人领域中的一种新型高技术产品，具有可观的市场前景。本文系统综述了吸尘机器人的研究开发现状及其关键技术，并提出了吸尘机器人近期发展中的若干问题。     

吸尘机器人的研究现状与展望

吸尘机器人融合了移动机器人和吸尘器技术，成为服务机器人领域中的一种新型高技术产品，具有可观的市场前景，本文系统综述了吸尘机器人的研究开发现状及其关键技术，并提出了吸尘机器人的近期发展中的若干问题。     

基于图像处理的在线吸尘机器人研究与实现

为解决工业生产线灰尘清理以及产线过度磨损的问题,本文研发设计了一种基于图像检索算法的产线智能吸尘机器人。首先设计了产线吸尘机器人的机械结构,其次,为提升其吸尘效率,基于摄像头获取的实时传送带监控图像,采用小波变换和GLCM算法检索图像纹理特征,使用根据距离度量法计算图像的相似度,相似度越低,吸尘口风速越大,然后,控制直流电机的转速调整吸尘口风速。经实际产线环境测试实验,吸尘机器人的底座能与产线无缝配合,沿传送带自动吸尘。此外,将图像处理技术应用于产线上,把吸尘效率作为吸尘的量化评价指标,产线吸尘机器人在传送带上吸尘可以达到93%以上的吸尘效率。     

通风管道智能清污机器人MDCR-Ⅰ的研制与开发

介绍了通风管道清污机器人MDCR-I的系统功能、机械结构设计和控制系统设计．MDCR-I以计算机遥操作的移动机器人为运动载体，通过携带不同的工具头，可以对通风管道进行探测、清扫、吸尘、消毒喷雾等．     

基于神经网络的自主吸尘机器人混合视觉研究

针对自主吸尘机器人非结构化的工作环境及避障的实时性要求,提出融合了超声波传感器和红外传感器的混合视觉算法,并且基于BP神经网络的传感器信息融合技术进行了实验。     

基于KQML语言的多自主移动机器人仿真系统

用JAVA语言开发了栅格环境下的多自主移动机器人仿真系统，通过KQML语言通信模拟了多个自主的移动机器人，机器人的自主性主要体现在自主感知环境和自主进行路径规划、任务执行和安全导航等工作．该仿真系统具有平台无关性、地图无关性、算法无关性以及机器人配置的无关性，为多自主机器人系统的研究提供了一个可借鉴的平台．     

吸尘机器人的现状及其智能系统的若干关键技术

吸尘机器人能实现室内环境全自动清洁,替代了传统的人工清洁,具有十分广阔的市场前景。介绍了国内外吸尘机器人产品现状;综合评述了其智能系统中的全区域覆盖、路径规划、环境建模及传感器等的研究现状,对关键技术的难点进行了说明,并对其发展前景做了展望。     

突破新“净”界iRobot发布全新Roomba880吸尘机器人

2014年9月10日,中国——全球机器人科技解决方案领导者iRobot近日宣布向中国市场推出代表机器人清洁领域的革新力作——Roomba880吸尘机器人,这也是迄今为止iRobotRoomba系列吸尘机器人的最高端型号，并已于9月全面登陆中国市场。     

中央空调风管吸尘机器人的开发

中央空调风管吸尘机器人借鉴了中央空调风管清洗机器人和家用吸尘机器人的技术,融合了计算机技术、控制技术、电子技术等诸多学科技术。它拥有完整的移动、检测、吸收、监控以及大功率低噪音的污物收集等功能,能够实现水平管道的清洁,解决中央空调通风系统的卫生死角,提高工作效率和工作质量。     

机器人自主感知模型在网络机器人中的应用

基于机器人自主感知模型(RAPM)构建了机器人系统，该系统可通过网络自主感知获得动态网络信息，实时建立路径，使机器人完成超出其视野范围的任务．机器人自主感知模型具有很强的扩展能力和合理的构架，突破了以往移动机器人仅使用自身传感器或使用网络固定传感器的局限，对提高基于Internet的机器人智能及其行为能力有重要意义．实验结果证明了机器人自主感知模型的可行性和有效性．     

A Short History of Cleaning Robots

The definition of the desired functions and the design of an ultimate versatile personal robot is an ongoing debate. Meanwhile, however, precursors of this yet to evolve species are well on their way to become commercial products. Cleaning robots for public environments as well as for private households seem to be able to provide the breakthrough which the designers of non-industrial robot systems have long awaited.This survey describes a selection of 30 different cleaning robots, with the first developments reaching back more than 15 years. With a few exceptions we have focused on floor cleaning, in particular indoor floor cleaning. We describe a variety of scrubbing and vacuuming robots which were developed for this task. The described systems range from heavy, large, and expensive industrial cleaning vehicles to small-size, light-weight, low-cost household devices. Thesurvey does not include, however, systems for cleaning facades of buildings, or windows, or production tools.Although not all of the 30 cleaning robots abovementioned have yet reached the state of commercial products, their number alone certainly reflects the expectations regarding the economic value associated with the automation of cleaning tasks. In Europe only the estimates for the market for cleaning services range up to the order of US$ 100 billion per year. It is therefore not surprising that the cleaning industry and the manufacturers of cleaning devices arerather enthusiastic with respect to the automation of cleaning tasks using (semi-)autonomous mobile robot systems.     

Cleaning and Household Robots: A Technology Survey

This paper describes some of the main technology areas that have been actually used in the development of cleaning robots. The approach taken in this survey is to examine the characteristics of cleaning robots that have made successful laboratory demonstration or have become commercial products. We then identify the technology approach followed by the authors, and group their contributions in a few general areas. The result is a summary of used approaches to thesolution of difficult, albeit very practical, problems in the area of autonomous execution of cleaning tasks.     

BA*: an online complete coverage algorithm for cleaning robots

This paper presents a novel approach to solve the online complete coverage task of autonomous cleaning robots in unknown workspaces based on the boustrophedon motions and the A* search algorithm (BA*). In this approach, the robot performs a single boustrophedon motion to cover an unvisited region until it reaches a critical point. To continue covering the next unvisited region, the robot wisely detects backtracking points based on its accumulated knowledge, determines the best backtracking point as the starting point of the next boustrophedon motion, and applies an intelligent backtracking mechanism based on the proposed A* search with smoothed path on tiling so as to reach the starting point with the shortest collision-free path. The robot achieves complete coverage when no backtracking point is detected. Computer simulations and experiments in real workspaces prove that our proposed BA* is efficient for the complete coverage task of cleaning robots.     

A survey on coverage path planning for robotics

Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works.     

基于机器视觉的自主式救援机器人的研究

本文将面向自主式救援机器人,从现阶段日本、中国对自主式救援机器人研究现状出发,深入分析自主式救援机器人的功能需求和硬件设备需求,并且结合自主式救援机器人工作中所具备的功能进行研究。在灾害事故当中,由于环境复杂救援人员难以勘探真实的灾害环境,从而影响救援效果,而自主式救援机器人则能够通过自身强大的移动、远程通信、监测与跟踪等功能为救援人员提供帮助。面对灾害事故频发的现代化社会,救援机器人的研发已成为全球重要的研究事项。     

Grounded Symbolic Communication between Heterogeneous Cooperating Robots

In this paper, we describe the implementation of a heterogeneous cooperative multi-robot system that was designed with a goal of engineering a grounded symbolic representation in a bottom-up fashion. The system comprises two autonomous mobile robots that perform cooperative cleaning. Experiments demonstrate successful purposive navigation, map building and the symbolic communication of locations in a behavior-based system. We also examine the perceived shortcomings of the system in detail and attempt to understand them in terms of contemporary knowledge of human representation and symbolic communication. From this understanding, we propose the Adaptive Symbol Grounding Hypothesis as a conception for how symbolic systems can be envisioned.     

Towards cooperation of heterogeneous,autonomous robots: A case study of humanoid and wheeled robots

In this paper a case study of the cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended, compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required in order to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed, including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.     

Bioinspired algorithm for area surveillance using autonomous robots

Territorial surveillance plays a constantly increasing role in security. However, completely automatic surveillance using autonomous robots is hard to implement and maintain. Current methods described in literature propose systems that include direct communication of the robots or the use of a centralised system to coordinate the robots. These systems are prone to equipment failure and/or malicious attacks to the centralised system. In this paper, we propose a bioinspired algorithm that allows indirect communication between the robots that are considered minimally equipped. This is achieved by applying a parallel and distributed technique inspired by the emergent behaviour of social insects, namely ant colonies. In particular, the development of a collective memory for robots and areas covered is achieved subsequently through self-organisation of the autonomous robots to a continuous dynamic coverage of the test space. The algorithm is shown to have a robust behaviour and competitive performance. Several simulations run for various space sizes, different number of robots, different pheromone evaporation rates as well various percentages of space covered by obstacles. In all cases the efficacy of the proposed algorithm has been successfully proven when compared with other well known techniques.     

移动机器人长期自主环境适应研究进展和展望

真实世界中存在光照、天气、季节及场景结构等复杂环境因素, 这些因素的改变对移动机器人基本行为和任务能力带来巨大挑战.随着机器人与人工智能技术的不断发展, 如何使移动机器人在长期运行中与复杂多变的环境条件相适应是智能机器人领域的研究热点.本文重点从地图构建与动态维护、重定位及场景理解等移动机器人基本行为能力的系统综述入手, 对移动机器人长期自主环境适应的前沿技术与研究方向进行了着重论述与分析.最后对该领域的研究重点和技术发展趋势进行了探讨.