室内清洁机器人协作技术研究

随着计算机和信息技术的迅速发展，机器人的功能越来越强，应用范围越来越广、，除了应用在传统的工业、军事、科研等领域外，在家庭内部使用的家用服务机器人受到了越来越多的关注。目前，市场上出现了多种已形成产业化的家庭用服务机器人，这些机器人的能力、鲁棒性、可靠性等都较原来有很大提升，但面对一些复杂的、需要并行完成的任务时，单个机器人则难以胜任。．为了使机器人更好地服务于人类和社会，在目前的服务机器人技术水平条件下，通过采用多个清洁机器人相互协作来弥补个体能力的不足。清洁机器人利用单视觉系统软件处理环境视觉信息，寻找并确定目标物体（被清洁物体）的位置；采用被动声测距的方法测定清洁机器人间的距离；使用无线射频模块nRF905完成清洁机器人之间的通信；进行路径规划使清洁机器人向目标的位置运动。最终实现了在家庭环境下，清洁机器人间相互协作完成任务。通过原理样机验证了该系统的可行性。

Research on indoor cleaning robots cooperation technology

With the rapid development of the computer and information technology, the function of the robot is more and more strong, and the robot is used more widely. Except in the traditional industry, military and scientific research fields, the application of the household service robot in the family acquire more and more attention. At present, there has been appeared some family service robots on the industrialization. The ability, robustness and reliability of the robot have improved greatly than the original. But facing some complex, needing to finish the task of parallel, single robot is hard to finish the work. In order to better serve the human and society, it use multiple cleaning robot mutual cooperation to compensate the shortage of individual ability in the current level of robot technology service conditions. Cleaning robot use single visual system software environment and visual information search target objects （objects need to clean）, and it use passive location method of distance measurement cleaning machine. It use radio frequency nRF905 module of communication between the robot complete cleanness, and it plan the robot path to the location of the object motion. Finally, the cleaning robots realize mutual cooperation to finish the task in the family environment. Through the principle prototype verified the feasibility of the system.