CN102283616B - Domestic intelligent cleaning system based on machine vision - Google Patents
Domestic intelligent cleaning system based on machine vision Download PDFInfo
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- CN102283616B CN102283616B CN201010515456.3A CN201010515456A CN102283616B CN 102283616 B CN102283616 B CN 102283616B CN 201010515456 A CN201010515456 A CN 201010515456A CN 102283616 B CN102283616 B CN 102283616B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 34
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 15
- 239000000428 dust Substances 0.000 claims abstract description 11
- 239000010893 paper waste Substances 0.000 claims abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract 4
- -1 peels Substances 0.000 claims abstract 3
- 229910052742 iron Inorganic materials 0.000 claims abstract 2
- 239000004033 plastic Substances 0.000 claims abstract 2
- 229920003023 plastic Polymers 0.000 claims abstract 2
- 238000012545 processing Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 7
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- 239000000284 extract Substances 0.000 claims description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000002708 enhancing effect Effects 0.000 description 1
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Abstract
The invention discloses a cleaning system which is used in a family and can automatically identify ground garbage and intelligently clean the garbage. In the system, a digital signal processor (DSP) chip serves as a core building embedded platform; an infrared camera is adopted to take a ground image; a wireless radar is adopted to position the position of the garbage to be cleaned; a small dust collector is adopted to clean the ground; and the bottom of the system is provided with a motor to drive vehicle wheels to move to the position of the garbage to clean the garbage. The system has the advantages that: garbage, such as waste paper, peels, plastics, threads, iron scrapes and the like, on the ground can be automatically cleaned; articles, such as keys, coins, pens and the like, which fall onto the ground mistakenly, can be automatically identified; the cleaning area is large; the system works timely; the ground of a family can be kept clean; at the same time, the working noise is low; energy is saved, work is stable and reliable; the system is a cleaning assistant of families and offices; and great convenience can be brought to life of people.
Description
Technical field
The present invention relates to a kind of Domestic intelligent cleaning system, especially automatic identification, the Automatic clearance of family's ground refuse, and ground drop detection and the prompting of coin, key etc.
Background technology
Along with development economic and science and technology, automation and intelligent level are more and more higher; Along with the increase of life stress, the time of being in reduces rapidly simultaneously, and family's housework has become a kind of burden; People wish to have a kind of intelligence system, can replace automatically the people to clean the room, cleaning ground, in case there are waste paper or Other Waste in ground, and system's cleaning of can automatically advancing immediately.China Patent Publication No. CN200977121, November 21 2007 Shen Qing Publication day, the title of innovation and creation is a kind of intellectual dust collector devices, this disclosure of the Invention a kind of new dust collector device, its weak point is that this invention is after button is pressed, just the relation according to dust catcher and environment obtains optimal path, but be not to go cleaning before automatically, be still the people in control, the intellectuality of device and promptness are not enough.According to above-mentioned requirements, need a kind of new Domestic intelligent cleaning system, realize intelligence and in real time cleaning.The present invention is based on machine vision, according to Video processing and image detection algorithm, adopt the camera pickup image and process detection, and according to testing result control motor operation, really realize intelligent processing method and real-time cleaning.
Summary of the invention
The present invention seeks to design cleaning system of a kind of intelligentized family, realize the real-time cleaning on family ground.The present invention can be real-time maintenance ground clean, noise is little, power consumption is low, satisfies people to intelligent, safe, healthy requirement.
According to specification requirement, system comprises DSP central processing unit platform, infrared camera, wireless radar, infrared communication module, warning system, engine, wheel, Small-sized suction cleaner and dustbin; Infrared camera swings back and forth, the intake surface image information; The DSP central processing unit to camera collection to image process judgement, whether detect has foreign matter, if foreign matter is arranged, which kind of foreign matter judgement is; Wireless radar is determined distance and bearing to the foreign matter location determination; Engine braking bottom wheel advances to the foreign matter position; When arriving the position, according to the result that the DSP platform is judged, if rubbish, Small-sized suction cleaner is opened cleaning, if things such as coin, key, pens, warning system is opened, and prompting is picked up; When dustbin is expired soon, to report to the police and open, prompting clears the dustbin; House person also can be controlled native system work by IR remote controller.
Domestic intelligent cleaning system based on machine vision, will be to the ground real time scan, because furniture and wall blocks in the room, can cause some position brightness very low, and at night, the light dead angle is may a slice dark, so system adopts infrared camera intake surface image, light can die down on the system works impact, has strengthened the resistivity of system to environment.
Import the embedded processing platform take dsp chip as core behind the video image acquisition into, through video image decoding, the image preliminary treatment, illumination compensation, image filtering, Threshold segmentation, feature extraction etc., finish the image foreign matter and detect, then with the feature and the Characteristic Contrast of system storage of the foreign matter that detects, the kind of judgement foreign matter.
After foreign matter detected, system was by the distance and bearing at wireless radar judgement foreign matter place, and motor is opened simultaneously, system's vehicle wheel rotation, the position at arrival foreign matter place.According to the judgement of dsp processor, if foreign matter is the rubbish that needs cleaning, dust catcher is opened, cleaning rubbish.If foreign matter is the thing that the kinsfolks such as coin, key may drop because of carelessness, system alarm is opened, and reminds the kinsfolk to pick up.When dustbin was expired soon, system alarm was opened, and reminded in time cleaning.
Because processing to detect, machine vision and image have certain error, to some rubbish None-identified; On the other hand, for as useless key, the bad shaft of a writing brush one class, system's identification can not be cleared up but the people thinks useless, just need the people to come operating system to finish cleaning work this moment.System comprises infrared communication module, and the people can operate system by IR remote controller, finish advance, turning, cleaning work.
Whether advantage of the present invention: can detect in real time ground by camera has foreign matter if being, and can automatically identify rubbish, automatically go cleaning before, also can identify the things such as the coin on the ground of dropping and key, intelligent degree is high, safe and reliable, be the life assistant of family and office, can greatly improve the daily life level.
Description of drawings
Accompanying drawing one is the hardware structure diagram of native system.
Accompanying drawing two is software flow patterns of system.
Accompanying drawing three is the operations after infrared communication module receives order.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is elaborated.
Accompanying drawing one is the overall structure figure of native system.As shown in the figure, system comprises processor platform, infrared camera, radar, dust catcher, infrared communication module, motor, wheel etc.Dsp chip is processor core, is connected with FLASH with SDRAM by the EBIU bus, is responsible for data operation and storage; Be connected the receiver, video view data with video decoding chip by the PPI interface; Infrared communication module is connected with the PF interface of dsp chip, the order of transmission remote controller.Infrared camera is fixed on the column spinner, can left rotation and right rotation the scanning pickup image, the rear end is connected with video decoding chip on the processor platform.Wireless radar places the camera below, swings equally measuring distance and concrete orientation with camera.Motor places the bottom, is connected the direction that control system is advanced and speed with wheel.Suction port of suction cleaner places front bottom end, is connected with dustbin, is responsible for cleaning work.
Accompanying drawing two is the entire system software flow patterns except remote monitoring function.System adopts the Linux embedded OS, take hardware drive program as the basis programming.After infrared camera absorbs image, after the operations such as image filtering, light compensation, gray scale processing, binary conversion treatment, Threshold segmentation, feature extraction, detect identification according to the topological relation of foreign matter and surrounding environment and the feature of foreign matter itself.If foreign matter, the motor rotation, the control rotation of wheel advances to the foreign matter place.If rubbish, then dust catcher is opened, the cleaning foreign matter.If things such as coin, keys, system alarm then, prompting is picked up.If infrared communication partly receives data, then system stops to detect, and according to order, finishes and advances, turns, clears up, stops corresponding operation.The whole system core is Video processing, and foreign matter detects and identification division, and its workflow is:
(1) after camera obtains original image, to image carry out smoothly, the preliminary treatment such as enhancing.
(2) utilize the image Segmentation Technology of relative entropy threshold value to obtain best global threshold, be beneficial to follow-up feature extraction and identification.
(3) image that obtains after cutting apart is carried out filtering and process the isolated point noise that removal may contain.
(4) adopt machine vision consistency method, for the image after processing, extract the image feature values such as gray scale, texture, color, architectural feature as primitive character, the characteristic value that comprises with the foreign matter of storing in the memory contrasts, judge whether it is foreign matter, if, motor brake.
(5) with the Characteristic Contrast of the various foreign matters stored in the foreign matter that detects and the database, which kind of foreign matter judgement is, if rubbish is then opened dust catcher; If when coin, key, pen, magnetic card, open alarm.
Claims (7)
1. based on the Domestic intelligent cleaning system of machine vision, it is characterized in that: system comprises DSP central processing unit platform, infrared camera, wireless radar, infrared communication module, warning system, engine, wheel, Small-sized suction cleaner and dustbin; Infrared camera swings back and forth, the intake surface image information; DSP central processing unit platform to camera collection to image process judgement, whether detect has foreign matter, if foreign matter is arranged, which kind of foreign matter judgement is; Wireless radar is determined distance and bearing to the foreign matter location determination; Engine braking bottom wheel advances to the foreign matter position; When arriving the position, according to the result that DSP central processing unit platform is judged, if rubbish, Small-sized suction cleaner is opened cleaning, if coin, key, pen or magnetic card, warning system is opened, and prompting is picked up; When dustbin is expired soon, to report to the police and open, prompting clears the dustbin; House person is by the work of IR remote controller control native system; The high 35cm of whole system, long 52cm, wide 40cm.
2. the Domestic intelligent cleaning system based on machine vision according to claim 1 is characterized in that: described foreign matter detects and judges, is that the image of infrared camera picked-up is processed, and extracts feature, has judged whether that foreign matter exists; If there is foreign matter, carry out Characteristic Contrast and judge it is coin, key, pen or magnetic card, or the rubbish that will clear up.
3. the Domestic intelligent cleaning system based on machine vision according to claim 1 is characterized in that: described wireless radar is the distance and bearing of judging the foreign matter place by wireless radar.
4. the Domestic intelligent cleaning system based on machine vision according to claim 1 is characterized in that: described engine driven wheel is that engine is opened when having detected foreign matter and exist, and brake wheel advances to the foreign matter position.
5. the Domestic intelligent cleaning system based on machine vision according to claim 1 is characterized in that: described warning reminding is when the foreign matter that detects is coin, key, pen or magnetic card, reports to the police and opens, and prompting is picked up; When dustbin was expired soon, system alarm was reminded cleaning.
6. the Domestic intelligent cleaning system based on machine vision according to claim 1 is characterized in that: described dust catcher cleaning is that dust catcher is opened and cleared up when the foreign matter that detects is the end of a thread, waste paper, pericarp, wood chip, plastics or iron head.
7. the Domestic intelligent cleaning system based on machine vision according to claim 1 is characterized in that: described IR remote controller, be house person by described control systems in infrared remote controller work, comprise the operation of advancing, turn, opening dust catcher.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010515456.3A CN102283616B (en) | 2010-10-22 | 2010-10-22 | Domestic intelligent cleaning system based on machine vision |
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| CN201010515456.3A CN102283616B (en) | 2010-10-22 | 2010-10-22 | Domestic intelligent cleaning system based on machine vision |
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| CN102283616A CN102283616A (en) | 2011-12-21 |
| CN102283616B true CN102283616B (en) | 2013-05-29 |
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