INTELLIGENT CLEANING ROBOT

An intelligent, autonomous interior cleaning robot capable of autonomously mapping and cleaning multiple rooms in a house in an intelligent manner is described. Various combinations of passive and active sensors may be used to perform mapping, localization, and obstacle avoidance. In particular, the robot uses stereo cameras with a static projected light pattern to generate 3D data. In addition, the robot may use optical sensors in various locations, laser ToF sensors, inertial measurement units and visual odometry to enhance the localization and mapping capabilities. 描述了一种智能自主室内清洁机器人，其能够在房屋中以智能方式自主地测绘和清洁多个房间。可以使用无源和有源传感器的各种组合来执行测绘、定位和障碍物避让。确切地说，所述机器人使用具有静态投影光图案的立体相机来生成3D数据。另外，所述机器人可以使用各种位置的光学传感器、激光ToF传感器、惯性测量单元和视觉里程测量来增强定位和测绘能力。