Control method and system, and mobile robot using the same

Abstract

The present application provides a control method, and system, and a mobile robot using the same. The control method comprises the following steps: under a navigation operating environment of the mobile robot, controlling the image acquisition device to capture images in real time; analyzing at least one captured image; and controlling the movement of the mobile robot after analyzed that the image acquisition device faces an overexposure region. In the present application, the problem that the robot cannot determine the navigation and pose thereof based on the acquired images due to lighting problems is solved.

What is claimed is: 
     
         1 . A system for controlling a mobile robot, wherein, the mobile robot comprises an image acquisition device, and the system comprises:
 a storage device, configured to store one or more programs; and   a processing device, connected with the storage device and configured to perform the following steps through invoking the one or more programs: under a navigation operating environment of the mobile robot, controlling the image acquisition device to capture images in real time;   analyzing at least one captured image; and controlling the movement of the mobile robot after analyzed that the image acquisition device faces an overexposure region.   
     
     
         2 . The system for controlling a mobile robot of  claim 1 , wherein, the step of analyzing at least one captured image comprises: determining the current position of the mobile robot based on the features identified from the at least one image. 
     
     
         3 . The system for controlling a mobile robot of  claim 1 , wherein, the step of analyzing at least one captured image comprises: determining that the image acquisition device faces an overexposure region based on grayscale features in the at least one image. 
     
     
         4 . The system for controlling a mobile robot of  claim 1 , wherein, the step of controlling the movement of the mobile robot after analyzed that the image acquisition device faces an overexposure region comprises: adjusting a framing surface of the image acquisition device, and navigating the mobile robot according to the images captured by the adjusted image acquisition device. 
     
     
         5 . The system for controlling a mobile robot of  claim 4 , wherein, the step of adjusting a framing surface of the image acquisition device and navigating the mobile robot according to the images captured by the adjusted image acquisition device comprises any of the following steps:
 controlling the image acquisition device to deflect by an angle, and controlling the movement of the mobile robot according to the adjusted deflection angle and the original navigation route;   controlling the image acquisition device to deflect by an angle, and modifying the original navigation route according to the adjusted deflection angle to control the movement of the mobile robot.   
     
     
         6 . The system for controlling a mobile robot of  claim 1 , wherein, the step of controlling the movement of the mobile robot after analyzed that the image acquisition device faces an overexposure region comprises: shielding the image provided by the image acquisition device, and controlling the movement of the mobile robot according to the original navigation route. 
     
     
         7 . The system for controlling a mobile robot of  claim 1 , wherein, the step of controlling the movement of the mobile robot after analyzed that the image acquisition device faces an overexposure region comprises: adjusting the amount of incoming light in the image acquisition device and navigating the mobile robot according to the images captured by the adjusted image acquisition device. 
     
     
         8 . The system for controlling a mobile robot of  claim 7 , wherein, the image acquisition device comprises an adjustable aperture and/or a mask; and the amount of incoming light can be reduced by the processing device through adjusting the aperture and/or adjusting the position of the mask. 
     
     
         9 . The system for controlling a mobile robot of  claim 1 , wherein, the step of controlling the movement of the mobile robot after analyzed that the image acquisition device faces an overexposure region comprises: controlling the movement of the mobile robot after analyzed that the time during which the image acquisition device faces an overexposure region is longer than a preset time. 
     
     
         10 . A mobile robot, comprising:
 an image acquisition device;   the system for controlling a mobile robot of  claim 1 , configured to determine that the image acquisition device faces an overexposure region based on at least one image captured by the image acquisition device and output movement instructions based on the control of the movement of the mobile robot; and   a movement system, connected with the control system and configured to drive the mobile robot to move based on the movement instructions.   
     
     
         11 . The mobile robot of  claim 10 , wherein, the movement system comprises:
 at least two sets of rolling wheels, wherein at least one set of rolling wheels is a set of controlled rolling wheels; and   a drive control device, connected with the system for controlling a mobile robot and configured to drive the set of controlled rolling wheels to roll based on the movement instructions.   
     
     
         12 . The mobile robot of  claim 10 , wherein, the image acquisition device is arranged on the top surface of the mobile robot, and the angle between the optic axis of the field of view of the image acquisition device and the vertical line is ±30°. 
     
     
         13 . The mobile robot of  claim 10 , further comprising:
 a cleaning system, connected with the system for controlling a mobile robot and configured to clean the surface along the route along which the movement system moves.   
     
     
         14 . The mobile robot of  claim 13 , wherein, the system for controlling a mobile robot is further configured to output movement instructions containing pose control information based on cleaning control of the cleaning robot on the current navigation route; and
 the movement system is used to adjust the movement pose of the cleaning robot based on the movement instructions.   
     
     
         15 . A method for controlling a mobile robot, wherein, the mobile robot comprises an image acquisition device, and the method comprises the following steps:
 under a navigation operating environment of the mobile robot, controlling the image acquisition device to capture images in real time;   analyzing at least one captured image; and   controlling the movement of the mobile robot after analyzed that the image acquisition device faces an overexposure region.