Xia Deng

TL;DR: In this paper, a grid map based on real-time data fusion was constructed by a mobile robot using fuzzy logic and a probability theory to obtain a group of characteristic vectors which are subject to the data fusion as input vectors of a neural network, wherein, output values of the neural network comprises idle state, busy state and undefined state of the grid.

TL;DR: In this paper, a condenser intelligent moving and cleaning robot is presented, which can be used in the field of large scale cleaning equipment and comprises a track running mechanism, a cleaning mechanism, and an electric control mechanism.

TL;DR: In this paper, a method for predicting the dirt change trend of a large condenser is proposed, which comprises the steps as follows: 1) a support vector machine prediction structure is established, and two subnets are respectively used to predict the change trends of soft dirt and hard dirt.

TL;DR: In this article, an accurate vision positioning method for condenser cleaning robots is presented, which comprises the following steps that: the coordinate transformation relation between a camera coordinate system and an image plane, as well as the coordinate transform relation between the image plane and a pixel coordinate system are established; nonlinear distortion is introduced on the basis of a pinhole imaging model, and a distorted image is restored; main noise of an underwater image is eliminated through an index low-pass filter and a homomorphic filter; a novel self-adaptive threshold method based on edge detection is utilized to