Machine vision-based detection system of a cleaning robot for vertical type air-conditioning duct

As service robot, the cleaning robots for vertical type air-conditioning duct are studied in recent years. The detection system based on machine vision is a key component in the robot controller design. An effective method based on histogram similarity principle which is used in the machine vision is studied in the paper. Firstly, the configuration and workflow of the machine vision system is presented. Secondly, some key technologies based on the image histogram are studied. Finally, some experiments are carried out and the results illustrate in the paper. And the experiment results show the proposed method is useful and accurate.