GROUND-PURITY INSPECTION FOR A GROUP OF ROBOTIC CLEANERS

摘要

The main purpose of this paper is to create a mechanism that can automatically inspect ground cleanliness of a group of mobile cleaning robots. A single-chip Microcontroller PIC18F4520 is used as a control core in the robot. The robot driven by two DC motors is equipped with two ultrasonic-ray-distance-detectors to calibrate the robot’s movement via the detected angle between the wall and the robot. In addition, a vertical movement mechanism used to lift and put down the sample-gathering device is actuated via a motor-driven cam system. Moreover, a sample specimen of the ground impurity gathered by white gummed tape will be scrolled by a motor to a specified position for further photographic processing. The captured image will then be transmitted back to the remote pc –the master pc– for image analysis and cleanliness classification via a wireless network and a series port transmission protocol. Consequently, experimental results reveal that robot-inspected ground-cleanliness using image processing (a graying, a binarization, and a double erosion process) can determine the purity of the ground.