Visual navigation method and system of glass curtain wall cleaning robot

Abstract

The present invention provides a visual navigation method and system of a glass curtain wall cleaning robot. The method includes the following steps that: overall wall surface image information and regional image information of a glass curtain wall to be cleaned are obtained; pre-processing and image analysis are performed on the overall wall surface image information and the regional image information, and overall regional planning is carried out; the regional image information is matched with the overall wall surface image information, and inter-region obstacle crossing planning is carried out; and the robot moves under control according to paths of the inter-region obstacle crossing planning. The system comprises a first image acquisition module, an image processing module, a second image acquisition module and a robot movement control module. According to the visual navigation method and system of the glass curtain wall cleaning robot of the invention, the overall wall surface image information and the regional image information of the glass curtain wall to be cleaned are acquired under different angles and modes, and the overall wall surface image information and the regional image information are analyzed and processed, and therefore, intra-region path planning and inter-region obstacle crossing planning can be realized, and therefore, the movement trajectories of the robot can be controlled according to the intra-region path planning and the inter-region obstacle crossing planning, and finally, the robot can continuously work on a plurality of glass surfaces.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to a visual navigation method and system for a glass curtain wall cleaning robot. Background technique [0002] Glass curtain wall is a beautiful and novel method of building wall decoration, which is a distinctive feature of the era of modernist high-rise buildings. While bringing us visual enjoyment, glass curtain wall also brings us some troubles, such as its cleaning. In order to free people from dangerous working at heights, we have developed a curtain wall cleaning robot, which needs to work on the vertical glass curtain wall surface. The movement of the robot on the vertical wall has some similarities with the movement on the ground, but it is more different. Usually glass curtain wall can be divided into two types: clear frame glass curtain wall and hidden frame glass curtain wall. Especially on the surface of framed glass curtain wall, how to safely and accurately...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a visual navigation method and system for a glass curtain wall cleaning robot to solve the problem that the glass curtain wall robot in the prior art is difficult to work continuously on multiple glass surfaces

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