CN106836426A - Feed robot and method based on image procossing - Google Patents
Feed robot and method based on image procossing Download PDFInfo
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- CN106836426A CN106836426A CN201710091418.1A CN201710091418A CN106836426A CN 106836426 A CN106836426 A CN 106836426A CN 201710091418 A CN201710091418 A CN 201710091418A CN 106836426 A CN106836426 A CN 106836426A
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- pipe
- dredging
- type
- image
- dredging agent
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Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 135
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 46
- 238000011010 flushing procedure Methods 0.000 claims abstract description 38
- 239000000463 material Substances 0.000 claims abstract description 33
- 230000008569 process Effects 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000011897 real-time detection Methods 0.000 claims abstract description 7
- 239000007858 starting material Substances 0.000 claims abstract description 5
- HEMHJVSKTPXQMS-UHFFFAOYSA-M Sodium hydroxide Chemical compound [OH-].[Na+] HEMHJVSKTPXQMS-UHFFFAOYSA-M 0.000 claims description 90
- 238000001914 filtration Methods 0.000 claims description 83
- 239000000126 substance Substances 0.000 claims description 12
- 239000004744 fabric Substances 0.000 claims description 9
- 238000005406 washing Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 7
- 239000006002 Pepper Substances 0.000 claims description 6
- 239000005708 Sodium hypochlorite Substances 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 claims description 6
- 239000000440 bentonite Substances 0.000 claims description 6
- 229910000278 bentonite Inorganic materials 0.000 claims description 6
- SVPXDRXYRYOSEX-UHFFFAOYSA-N bentoquatam Chemical compound O.O=[Si]=O.O=[Al]O[Al]=O SVPXDRXYRYOSEX-UHFFFAOYSA-N 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000010411 cooking Methods 0.000 claims description 6
- 230000007797 corrosion Effects 0.000 claims description 6
- 238000005260 corrosion Methods 0.000 claims description 6
- MSFGZHUJTJBYFA-UHFFFAOYSA-M sodium dichloroisocyanurate Chemical compound [Na+].ClN1C(=O)[N-]C(=O)N(Cl)C1=O MSFGZHUJTJBYFA-UHFFFAOYSA-M 0.000 claims description 6
- SUKJFIGYRHOWBL-UHFFFAOYSA-N sodium hypochlorite Chemical compound [Na+].Cl[O-] SUKJFIGYRHOWBL-UHFFFAOYSA-N 0.000 claims description 6
- SRAWNDFHGTVUNZ-UHFFFAOYSA-M sodium;3,6-dibutylnaphthalene-1-sulfonate Chemical compound [Na+].[O-]S(=O)(=O)C1=CC(CCCC)=CC2=CC(CCCC)=CC=C21 SRAWNDFHGTVUNZ-UHFFFAOYSA-M 0.000 claims description 6
- FEWJPZIEWOKRBE-JCYAYHJZSA-N Dextrotartaric acid Chemical compound OC(=O)[C@H](O)[C@@H](O)C(O)=O FEWJPZIEWOKRBE-JCYAYHJZSA-N 0.000 claims 2
- FEWJPZIEWOKRBE-UHFFFAOYSA-N Tartaric acid Natural products [H+].[H+].[O-]C(=O)C(O)C(O)C([O-])=O FEWJPZIEWOKRBE-UHFFFAOYSA-N 0.000 claims 2
- 235000002906 tartaric acid Nutrition 0.000 claims 2
- 239000011975 tartaric acid Substances 0.000 claims 2
- 239000004033 plastic Substances 0.000 description 5
- 229920003023 plastic Polymers 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 239000002253 acid Substances 0.000 description 4
- 239000000919 ceramic Substances 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002383 tung oil Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
- E03D11/00—Other component parts of water-closets, e.g. noise-reducing means in the flushing system, flushing pipes mounted in the bowl, seals for the bowl outlet, devices preventing overflow of the bowl contents; devices forming a water seal in the bowl after flushing, devices eliminating obstructions in the bowl outlet or preventing backflow of water and excrements from the waterpipe
- E03D11/02—Water-closet bowls ; Bowls with a double odour seal optionally with provisions for a good siphonic action; siphons as part of the bowl
- E03D11/11—Bowls combined with a reservoir, e.g. containing apparatus for disinfecting or for disintegrating
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
- E03D9/00—Sanitary or other accessories for lavatories ; Devices for cleaning or disinfecting the toilet room or the toilet bowl; Devices for eliminating smells
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
- E03D9/00—Sanitary or other accessories for lavatories ; Devices for cleaning or disinfecting the toilet room or the toilet bowl; Devices for eliminating smells
- E03D9/005—Devices adding disinfecting or deodorising agents to the bowl
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The present invention relates to a kind of feed robot based on image procossing, the robot includes storage device, for being pre-placed different types of pipe-dredging agent；Starter is rinsed, for the water inside cistern to be released automatically；Average current detection means, the water velocity for the seat inner space to toilet carries out real-time detection, obtains real-time water velocity, and calculate the average current velocity in this flushing process；Type determination device, the type for determining the pipe-dredging agent to be discharged based on average current velocity；Automatic releasing device, for the dredging that certain type of pipe-dredging agent is discharged into the seat inner space of toilet to realize pipeline in the seat inner space to toilet.The invention further relates to a kind of material supply method based on image procossing.By means of the invention it is possible to realize dredging the intelligent supply of material, for the use of toilet user is provided conveniently.
Description
Technical field
The present invention relates to image processing field, more particularly to a kind of feed robot and method based on image procossing.
Background technology
Done detailed literature record at first for toilet is Chinese Northern Song Dynasty OUYANG xiu《Resign from office and return home record two》In " wood
Nightstool ",《Ci yuan》In it is construed to " wooden toilet ".The toilet that Ancient Chinese Folk is used is a kind of circle wood with cover
Bucket, is smeared with tung oil or first-class waterproof red paint.
1596, beerage John Ha Lingdun invented first toilet of practicality --- and one has water tank and bath
The wooden seat of valve.
1778, Britain's inventor's Joseph's cloth Lame improved the design of water closet, employed such as control water tank
In water-carrying capacity three ball valves, and U-bend etc..
In 19th century, British government makes laws, it is stipulated that must all install appropriate sewage disposal machine people, horse per building house
Bucket just starts to greatly improve.
1861, one pipeliner Thomas Ke Laipa of Britain invented a set of advanced water-saving flushing robot, gave up
Thing discharge just initially enters modernization period.
1885, Thomas's soil prestige good fortune obtained first patent of full ceramic bowl in Britain, has number every year thereafter
The patent of ten improvement is granted.Produced in the new ceramic factory (predecessor of Tangshan Ceramics Factory) of opening that Tangshan is opened by Englishman within 1914
Chinese first ceramic bowl.
19th century sixties water closet start America and Europe it is prevailing, the Asian countries such as Japan, South Korea were passed to later.
As can be seen here, toilet is with a long history, and its basic structure is shaped already, however, people can still run into when in use
Hereinafter perplex：When toilet is blocked, the chocking-up degree and plugging material inside toilet are not known, therefore, when being dredged,
Selection scheme one by one of having to goes to carry out artificial treatment, immediately so, it is also possible to do not realize the effect of dredging.
The content of the invention
In order to solve the above problems, the invention provides a kind of feed robot based on image procossing and method, first
The dredging material that various dredging dynamics are differed is pre-stored in the different receiving spaces in toilet main body, secondly, determines average water
Flow velocity degree and target tamper type are that blocked state determines key element, again, using high-precision sensor and image recognition apparatus
Above-mentioned key element is accurately detected, and the dredging material that needs and dredging material needed for automatically opening up are determined according to testing result
The receiving space at place, so as to realize the automatic dredging of toilet.
According to an aspect of the present invention, there is provided a kind of feed robot based on image procossing, the robot includes：
Storage device, it is different for the different types of pipe-dredging agent of different chemical components to be placed on toilet in advance
Receiving space in；
Starter is rinsed, for automatic the releasing of the water inside cistern to be carried out with the seat inner space to toilet
Rinse；
Average current detection means, the water velocity for the seat inner space to toilet carries out real-time detection, obtains
Real-time water velocity, and the average current velocity in this flushing process is calculated based on real-time water velocity；
Type determination device, is connected with the average current detection means, for determining to release based on average current velocity
The type of the pipe-dredging agent put；
Automatic releasing device, is connected with the type determination device, for certain type of pipe-dredging agent to be discharged into
The seat inner space of toilet is realizing the dredging of pipeline in the seat inner space to toilet；
Wherein, various types of pipe-dredging agents all include：NaOH, sodium dichloro cyanurate, sodium hypochlorite, winestone
Acid, Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent be the dispensing percentage of NaOH not
Together, by various types of pipe-dredging agents be based on NaOH dispensing percentage number be divided into weak property pipe-dredging agent, one
As pipe-dredging agent, strong pipe dredging agent and fast siphunculus pipeline dredging agent.
More specifically, in the feed robot based on image procossing, the type determination device is specifically included：
Data acquisition unit, carries out high-definition image data acquisition to obtain high definition number for the seat inner space to toilet
Word image；
First filter unit, is connected with the data acquisition unit, and filter is kept for carrying out edge to high-definition digital image
Ripple obtains the first filtering image to remove the salt-pepper noise or impulsive noise in high-definition digital image；
Second filter unit, is connected with first filter unit, for being carried out at gaussian filtering to the first filtering image
Reason obtains the second filtering image to remove the Gaussian noise in the first filtering image, and the Gaussian noise includes maximum amplitude value
More than the amplitude value Gauss of significantly angle value Gaussian noise and maximum amplitude value less than or equal to predetermined amplitude value of predetermined amplitude value
Noise；
Binarization unit, is connected with the second filter unit, for carrying out binary conversion treatment to obtain to the second filtering image
Binary image；
Object matching unit, is connected with binarization unit, for carrying out object matching treatment to binary image to determine
The type of the tamper in binary image is simultaneously exported as target tamper type, and the object matching treatment is included two-value
Change image carries out form fit to determine the tamper in binary image one by one with the reference pattern of all kinds tamper
Type；
Type determining units, are connected, for based on average water with average current detection means and object matching unit respectively
Flow velocity degree and target tamper type determine the type of the pipe-dredging agent to be discharged, wherein, average current velocity is smaller, it is determined that
The dispensing percentage of NaOH is bigger in the pipe-dredging agent of type, and the corresponding corrosion difficulty of target tamper type is bigger,
The dispensing percentage of NaOH is bigger in certain type of pipe-dredging agent, when average current velocity is more than default current threshold value
When, certain type of pipe-dredging agent is nothing；
Wherein, the Gaussian noise that gaussian filtering process is carried out to the first filtering image to remove in the first filtering image
Including：The treatment of self adaptation recursive filtering is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter
Image, middle filtering image is carried out Wiener filtering treatment with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, all kinds tamper includes greasy dirt, dish leaf, tealeaves, hair, toilet paper, excrement, rubbish from cooking, plastics
Bag and cloth.
More specifically, in the feed robot based on image procossing, the automatic releasing device is specifically included：
Switch element, for opening the opening of receiving space where certain type of pipe-dredging agent to be automatically releasable determination
The pipe-dredging agent of type；
Wherein, when certain type of pipe-dredging agent be without when, switch element does not open any type of pipe-dredging agent
The opening of place receiving space, sends artificial flushing signal.
More specifically, in the feed robot based on image procossing, also including：
Washing time determining device, is connected with automatic releasing device, for determining to need manually based on average current velocity
The number of times of flushing；
Display device, is connected with automatic releasing device and washing time determining device respectively, for showing that artificial flushing is believed
Number while, display needs the number of times of artificial flushing, to realize the prompting to toilet user.
More specifically, in the feed robot based on image procossing, also including：
Dose measuring systems, the present dose for detecting each receiving space inner tube pipeline dredging agent；
Dosage warning device, is connected with dose measuring systems, for the present dose of the pipe-dredging agent when a certain type
During less than preset dose, underdosage alarm signal is sent, to remind toilet user to add the pipe-dredging agent of respective type.
According to another aspect of the present invention, there is provided a kind of material supply method based on image procossing, methods described bag
Include：
The different types of pipe-dredging agent of different chemical components is placed into receiving spaces different on toilet in advance；
Automatic the releasing of water inside cistern is rinsed with the seat inner space to toilet；
Water velocity to the seat inner space of toilet carries out real-time detection, obtains real-time water velocity, and based on reality
When water velocity calculate average current velocity in this flushing process；
The type of the pipe-dredging agent to be discharged is determined based on average current velocity；
Certain type of pipe-dredging agent is discharged into the seat inner space of toilet to realize inside the seat to toilet
The dredging of pipeline in space；
Wherein, various types of pipe-dredging agents all include：NaOH, sodium dichloro cyanurate, sodium hypochlorite, winestone
Acid, Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent be the dispensing percentage of NaOH not
Together, by various types of pipe-dredging agents be based on NaOH dispensing percentage number be divided into weak property pipe-dredging agent, one
As pipe-dredging agent, strong pipe dredging agent and fast siphunculus pipeline dredging agent.
More specifically, in the material supply method based on image procossing, it is described to be determined based on average current velocity
The type of the pipe-dredging agent to be discharged specifically includes following steps：
Seat inner space to toilet carries out high-definition image data acquisition to obtain high-definition digital image；To high-definition digital
Image carries out holding edge filter to remove the salt-pepper noise or impulsive noise in high-definition digital image, obtains the first filtering figure
Picture；
Gaussian filtering process is carried out to the first filtering image to remove the Gaussian noise in the first filtering image, obtains second
Filtering image, the Gaussian noise includes that maximum amplitude value exceedes the significantly angle value Gaussian noise and amplitude peak of predetermined amplitude value
Amplitude value Gaussian noise of the value less than or equal to predetermined amplitude value；Second filtering image is carried out binary conversion treatment to obtain two-value
Change image；
Object matching treatment is carried out to binary image to determine the type of the tamper in binary image and as mesh
Mark tamper type output, the object matching treatment include by the reference pattern of binary image and all kinds tamper by
One carries out form fit to determine the type of the tamper in binary image；
The type of the pipe-dredging agent to be discharged is determined based on average current velocity and target tamper type, wherein, put down
Equal water velocity is smaller, and the dispensing percentage of NaOH is bigger in certain type of pipe-dredging agent, target tamper type
Corresponding corrosion difficulty is bigger, and the dispensing percentage of NaOH is bigger in certain type of pipe-dredging agent, works as average current
When speed is more than default current threshold value, certain type of pipe-dredging agent is nothing；
Wherein, the Gaussian noise that gaussian filtering process is carried out to the first filtering image to remove in the first filtering image
Including：The treatment of self adaptation recursive filtering is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter
Image, middle filtering image is carried out Wiener filtering treatment with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, all kinds tamper includes greasy dirt, dish leaf, tealeaves, hair, toilet paper, excrement, rubbish from cooking, plastics
Bag and cloth.
More specifically, in the material supply method based on image procossing, it is described by certain type of pipe-dredging
The dredging that agent is discharged into the seat inner space of toilet to realize pipeline in the seat inner space to toilet specifically includes following
Step：
Open the opening of receiving space where certain type of pipe-dredging agent and dredged with being automatically releasable certain type of pipeline
Obstruction-removing prescription；
Wherein, when certain type of pipe-dredging agent be without when, do not open and accommodate where any type of pipe-dredging agent
The opening in space, sends artificial flushing signal.
More specifically, in the material supply method based on image procossing, certain type of pipeline is dredged described
Obstruction-removing prescription is discharged into the seat inner space of toilet with after the dredging for realizing pipeline in the seat inner space to toilet, the side
Method is further comprising the steps of：
Determine to need the number of times of artificial flushing based on average current velocity；While display artificial flushing signal, display is needed
The number of times of artificial flushing is wanted, to realize the prompting to toilet user.
More specifically, in the material supply method based on image procossing, it is further comprising the steps of：Detect that each holds
Receive the present dose of space inner tube pipeline dredging agent；
When the present dose of the pipe-dredging agent of a certain type is less than preset dose, underdosage alarm signal is sent,
To remind toilet user to add the pipe-dredging agent of respective type.
Can to sum up draw, key inventive point of the invention is：
First, the dredging material that the various dredging dynamics that prestored differ, and alarmed when material deficiency is dredged；
Secondly, the blocked state inside toilet is accurately detected, and based on the suitable dredging material of blocked state selection；
Again, releasing suitable dredging material carries out automatic dredging, and whole process need not be participated in manually, realize toilet
The full-automation of dredging.
Brief description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 is the block diagram of the feed robot based on image procossing according to embodiment of the present invention.
The step of Fig. 2 is the material supply method based on image procossing according to embodiment of the present invention flow chart.
Reference：1 storage device；2 rinse starter；3 average current detection means；4 type determination devices；5 certainly
Dynamic release device.
Specific embodiment
The embodiment to the feed robot based on image procossing of the invention is carried out specifically below with reference to accompanying drawings
It is bright.
It is many convenient that the appearance of toilet brings, however, when stopping state occurs in toilet, these conveniences are complete
It is converted into puzzlement.People need to use one's brains, and according to the limited stopping state that oneself is observed, manually carry out the normal one by one of scheme
Know.
Common dredging scheme has：
1st, a manual dredge (thing of appearance picture root spring) is bought to debris shop, is dredged manually；
2nd, mop method：Mop is placed on toilet mouthful first, is then discharged water, it is ensured that water floods mop.Then with forcing pier
Cloth, tries one's best it and fills in toilet mouthful, mop is lifted with most fast speed finally, such action repeatedly, the east in toilet
West will be by suck-back out；
3rd, one section of plastic water pipe more long is looked for, one connects running water, and one is filled in toilet mouthful, and toilet mouthful is then used broken
The thing of cloth etc is blocked, and then opens running water, can so utilize hydraulic pressure dredging pipeline；
If the 4, toilet is blocked by hard thing, first inhaled with toilet and dirt is carried down, discharged water while carry, made in toilet bowl
Only water, is then stained with dry by clear water with towel, looks for one piece small border sub, that small mirror e.g. cosmetically, a torch,
Small mirror is put into the bottommost of toilet seat, and the angle of adjustment light source and mirror can see the part inside pipeline, generally small
Thing can be stuck in pipeline most the inside and want downward corner, look for a proper iron wire, and being stuck in pocket-handkerchief with iron wire enters
Row is solved.
5th, the dredging company or dredging workman for finding specialty are manually dredged.
As can be seen here, all of purge operation is required for manually being observed, and manually carries out selection dredging material and experiences personally
Parent for ground dredged, on the one hand, take time and effort, another aspect, it is easy to the dirt during touching by dredging, it is more crucial
If scheme is not right, blockage problem cannot be solved, and toilet cannot be continuing with, and the live and work to user brings not
Just.
In order to overcome above-mentioned deficiency, the present invention to build a kind of feed robot based on image procossing and method, taken
Full automatic dredging material dredge the correct selection and automatic leakage dredging of material, while judging that material need not be dredged
In the case of material, it is determined that needing the number of times of artificial flushing, and artificial flushing and washing time will be needed to notify to user in time,
So as to avoid dredging the waste of material.
Fig. 1 is the block diagram of the feed robot based on image procossing according to embodiment of the present invention, institute
Stating robot includes：
Storage device, it is different for the different types of pipe-dredging agent of different chemical components to be placed on toilet in advance
Receiving space in；
Starter is rinsed, for automatic the releasing of the water inside cistern to be carried out with the seat inner space to toilet
Rinse；
Average current detection means, the water velocity for the seat inner space to toilet carries out real-time detection, obtains
Real-time water velocity, and the average current velocity in this flushing process is calculated based on real-time water velocity；
Type determination device, is connected with the average current detection means, for determining to release based on average current velocity
The type of the pipe-dredging agent put；
Automatic releasing device, is connected with the type determination device, for certain type of pipe-dredging agent to be discharged into
The seat inner space of toilet is realizing the dredging of pipeline in the seat inner space to toilet；
Wherein, various types of pipe-dredging agents all include：NaOH, sodium dichloro cyanurate, sodium hypochlorite, winestone
Acid, Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent be the dispensing percentage of NaOH not
Together, by various types of pipe-dredging agents be based on NaOH dispensing percentage number be divided into weak property pipe-dredging agent, one
As pipe-dredging agent, strong pipe dredging agent and fast siphunculus pipeline dredging agent.
Then, continue to carry out further the concrete structure of the feed robot based on image procossing of the invention
It is bright.
In the robot, the type determination device is specifically included：
Data acquisition unit, carries out high-definition image data acquisition to obtain high definition number for the seat inner space to toilet
Word image；
First filter unit, is connected with the data acquisition unit, and filter is kept for carrying out edge to high-definition digital image
Ripple obtains the first filtering image to remove the salt-pepper noise or impulsive noise in high-definition digital image；
Second filter unit, is connected with first filter unit, for being carried out at gaussian filtering to the first filtering image
Reason obtains the second filtering image to remove the Gaussian noise in the first filtering image, and the Gaussian noise includes maximum amplitude value
More than the amplitude value Gauss of significantly angle value Gaussian noise and maximum amplitude value less than or equal to predetermined amplitude value of predetermined amplitude value
Noise；
Binarization unit, is connected with the second filter unit, for carrying out binary conversion treatment to obtain to the second filtering image
Binary image；
Object matching unit, is connected with binarization unit, for carrying out object matching treatment to binary image to determine
The type of the tamper in binary image is simultaneously exported as target tamper type, and the object matching treatment is included two-value
Change image carries out form fit to determine the tamper in binary image one by one with the reference pattern of all kinds tamper
Type；
Type determining units, are connected, for based on average water with average current detection means and object matching unit respectively
Flow velocity degree and target tamper type determine the type of the pipe-dredging agent to be discharged, wherein, average current velocity is smaller, it is determined that
The dispensing percentage of NaOH is bigger in the pipe-dredging agent of type, and the corresponding corrosion difficulty of target tamper type is bigger,
The dispensing percentage of NaOH is bigger in certain type of pipe-dredging agent, when average current velocity is more than default current threshold value
When, certain type of pipe-dredging agent is nothing；
Wherein, the Gaussian noise that gaussian filtering process is carried out to the first filtering image to remove in the first filtering image
Including：The treatment of self adaptation recursive filtering is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter
Image, middle filtering image is carried out Wiener filtering treatment with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, all kinds tamper includes greasy dirt, dish leaf, tealeaves, hair, toilet paper, excrement, rubbish from cooking, plastics
Bag and cloth.
In the robot, the automatic releasing device is specifically included：
Switch element, for opening the opening of receiving space where certain type of pipe-dredging agent to be automatically releasable determination
The pipe-dredging agent of type；
Wherein, when certain type of pipe-dredging agent be without when, switch element does not open any type of pipe-dredging agent
The opening of place receiving space, sends artificial flushing signal.
In the robot, also include：
Washing time determining device, is connected with automatic releasing device, for determining to need manually based on average current velocity
The number of times of flushing；
Display device, is connected with automatic releasing device and washing time determining device respectively, for showing that artificial flushing is believed
Number while, display needs the number of times of artificial flushing, to realize the prompting to toilet user.
In the robot, also include：
Dose measuring systems, the present dose for detecting each receiving space inner tube pipeline dredging agent；
Dosage warning device, is connected with dose measuring systems, for the present dose of the pipe-dredging agent when a certain type
During less than preset dose, underdosage alarm signal is sent, to remind toilet user to add the pipe-dredging agent of respective type.
The step of Fig. 2 is the material supply method based on image procossing according to embodiment of the present invention flow chart,
Methods described includes：
The different types of pipe-dredging agent of different chemical components is placed into receiving spaces different on toilet in advance；
Automatic the releasing of water inside cistern is rinsed with the seat inner space to toilet；
Water velocity to the seat inner space of toilet carries out real-time detection, obtains real-time water velocity, and based on reality
When water velocity calculate average current velocity in this flushing process；
The type of the pipe-dredging agent to be discharged is determined based on average current velocity；
Certain type of pipe-dredging agent is discharged into the seat inner space of toilet to realize inside the seat to toilet
The dredging of pipeline in space；
Wherein, various types of pipe-dredging agents all include：NaOH, sodium dichloro cyanurate, sodium hypochlorite, winestone
Acid, Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent be the dispensing percentage of NaOH not
Together, by various types of pipe-dredging agents be based on NaOH dispensing percentage number be divided into weak property pipe-dredging agent, one
As pipe-dredging agent, strong pipe dredging agent and fast siphunculus pipeline dredging agent.
Then, continue to carry out further the idiographic flow of the material supply method based on image procossing of the invention
It is bright.
In methods described, it is described based on average current velocity determine the pipe-dredging agent to be discharged type specifically include with
Lower step：
Seat inner space to toilet carries out high-definition image data acquisition to obtain high-definition digital image；To high-definition digital
Image carries out holding edge filter to remove the salt-pepper noise or impulsive noise in high-definition digital image, obtains the first filtering figure
Picture；
Gaussian filtering process is carried out to the first filtering image to remove the Gaussian noise in the first filtering image, obtains second
Filtering image, the Gaussian noise includes that maximum amplitude value exceedes the significantly angle value Gaussian noise and amplitude peak of predetermined amplitude value
Amplitude value Gaussian noise of the value less than or equal to predetermined amplitude value；Second filtering image is carried out binary conversion treatment to obtain two-value
Change image；
Object matching treatment is carried out to binary image to determine the type of the tamper in binary image and as mesh
Mark tamper type output, the object matching treatment include by the reference pattern of binary image and all kinds tamper by
One carries out form fit to determine the type of the tamper in binary image；
The type of the pipe-dredging agent to be discharged is determined based on average current velocity and target tamper type, wherein, put down
Equal water velocity is smaller, and the dispensing percentage of NaOH is bigger in certain type of pipe-dredging agent, target tamper type
Corresponding corrosion difficulty is bigger, and the dispensing percentage of NaOH is bigger in certain type of pipe-dredging agent, works as average current
When speed is more than default current threshold value, certain type of pipe-dredging agent is nothing；
Wherein, the Gaussian noise that gaussian filtering process is carried out to the first filtering image to remove in the first filtering image
Including：The treatment of self adaptation recursive filtering is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter
Image, middle filtering image is carried out Wiener filtering treatment with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, all kinds tamper includes greasy dirt, dish leaf, tealeaves, hair, toilet paper, excrement, rubbish from cooking, plastics
Bag and cloth.
In methods described, the seat inner space that certain type of pipe-dredging agent is discharged into toilet is right to realize
The dredging of pipeline specifically includes following steps in the seat inner space of toilet：
Open the opening of receiving space where certain type of pipe-dredging agent and dredged with being automatically releasable certain type of pipeline
Obstruction-removing prescription；
Wherein, when certain type of pipe-dredging agent be without when, do not open and accommodate where any type of pipe-dredging agent
The opening in space, sends artificial flushing signal.
In methods described, certain type of pipe-dredging agent is discharged into the seat inner space of toilet to realize described
After to the dredging of pipeline in the seat inner space of toilet, methods described is further comprising the steps of：
Determine to need the number of times of artificial flushing based on average current velocity；While display artificial flushing signal, display is needed
The number of times of artificial flushing is wanted, to realize the prompting to toilet user.
It is further comprising the steps of in methods described：
Detect the present dose of each receiving space inner tube pipeline dredging agent；
When the present dose of the pipe-dredging agent of a certain type is less than preset dose, underdosage alarm signal is sent,
To remind toilet user to add the pipe-dredging agent of respective type.
In addition, can also include in the robot：CDMA passes through equipment, respectively with automatic releasing device and washing time
Determining device is connected, for artificial flushing signal and the number of times of artificial flushing will be needed to be wirelessly transmitted to the hand-held shifting of toilet user
Dynamic terminal.
In addition, can also be comprised the following steps in methods described：
Artificial flushing signal and the number of times of artificial flushing will be needed to be wirelessly transmitted to the hand-held mobile terminal of toilet user.
Using the feed robot based on image procossing of the invention and method, for closestool dredging demand in the prior art
The technical problem participated in the overall process manually is operated, by the accurate detection to toilet blocked state, dredging the prestoring of material, is dredged
Lead to coping style when material customizes selection mechanism and need not dredge material to complete the full-automatic dredging of toilet, meanwhile,
Timely dosage alarm is also carried out when material deficiency is dredged, so as to improve the intelligent level of whole toilet.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment and being not used to
Limit the present invention.For any those of ordinary skill in the art, in the case where technical solution of the present invention ambit is not departed from,
Many possible variations and modification are all made to technical solution of the present invention using the technology contents of the disclosure above, or is revised as
With the Equivalent embodiments of change.Therefore, every content without departing from technical solution of the present invention, according to technical spirit pair of the invention
Any simple modification, equivalent variation and modification made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (10)
1. a kind of feed robot based on image procossing, it is characterised in that the robot includes：
Storage device, for the different types of pipe-dredging agent of different chemical components to be placed into appearances different on toilet in advance
Receive in space；
Starter is rinsed, for automatic the releasing of the water inside cistern to be rushed with the seat inner space to toilet
Wash；
Average current detection means, the water velocity for the seat inner space to toilet carries out real-time detection, obtains real-time
Water velocity, and the average current velocity in this flushing process is calculated based on real-time water velocity；
Type determination device, is connected with the average current detection means, for determining what is discharged based on average current velocity
The type of pipe-dredging agent；
Automatic releasing device, is connected with the type determination device, for certain type of pipe-dredging agent to be discharged into toilet
Seat inner space realizing the dredging of pipeline in the seat inner space to toilet；
Wherein, various types of pipe-dredging agents all include：NaOH, sodium dichloro cyanurate, sodium hypochlorite, tartaric acid,
Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent are the dispensing percentage difference of NaOH,
Various types of pipe-dredging agents are based on NaOH dispensing percentage number be divided into weak property pipe-dredging agent, general pipe
Pipeline dredging agent, strong pipe dredging agent and fast siphunculus pipeline dredging agent.
2. the feed robot of image procossing is based on as claimed in claim 1, it is characterised in that the type determination device tool
Body is included with lower unit：
Data acquisition unit, carries out high-definition image data acquisition to obtain high-definition digital figure for the seat inner space to toilet
Picture；
First filter unit, is connected with the data acquisition unit, for high-definition digital image is carried out holding edge filter with
Salt-pepper noise or impulsive noise in removal high-definition digital image, obtain the first filtering image；
Second filter unit, is connected with first filter unit, for the first filtering image is carried out gaussian filtering process with
The Gaussian noise in the first filtering image is removed, the second filtering image is obtained, the Gaussian noise exceedes including maximum amplitude value
Amplitude value Gaussian noise of the significantly angle value Gaussian noise and maximum amplitude value of predetermined amplitude value less than or equal to predetermined amplitude value；
Binarization unit, is connected with the second filter unit, for carrying out binary conversion treatment to obtain two-value to the second filtering image
Change image；
Object matching unit, is connected with binarization unit, for carrying out object matching treatment to binary image to determine two-value
Change the type of the tamper in image and exported as target tamper type, the object matching treatment is included binary picture
As carrying out form fit one by one to determine the type of the tamper in binary image with the reference pattern of all kinds tamper；
Type determining units, are connected, for based on average water flow velocity with average current detection means and object matching unit respectively
Degree and target tamper type determine the type of the pipe-dredging agent to be discharged, wherein, average current velocity is smaller, determines type
Pipe-dredging agent in NaOH dispensing percentage it is bigger, target tamper type it is corresponding corrosion difficulty it is bigger, it is determined that
The dispensing percentage of NaOH is bigger in the pipe-dredging agent of type, when average current velocity is more than default current threshold value,
Certain type of pipe-dredging agent is nothing；
Wherein, it is described to carry out gaussian filtering process to the first filtering image to remove the Gaussian noise bag in the first filtering image
Include：The treatment of self adaptation recursive filtering is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter figure
Picture, middle filtering image is carried out Wiener filtering treatment with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, all kinds tamper include greasy dirt, dish leaf, tealeaves, hair, toilet paper, excrement, rubbish from cooking, polybag and
Cloth.
3. the feed robot of image procossing is based on as claimed in claim 2, it is characterised in that the automatic releasing device tool
Body is included with lower unit：
Switch element, for opening the opening of receiving space where certain type of pipe-dredging agent to be automatically releasable determination type
Pipe-dredging agent；
Wherein, when certain type of pipe-dredging agent be without when, switch element is not opened where any type of pipe-dredging agent
The opening of receiving space, sends artificial flushing signal.
4. the feed robot of image procossing is based on as claimed in claim 3, it is characterised in that the robot also includes：
Washing time determining device, is connected with automatic releasing device, for determining to need artificial flushing based on average current velocity
Number of times；
Display device, is connected, with automatic releasing device and washing time determining device for showing artificial flushing signal respectively
Meanwhile, display needs the number of times of artificial flushing, to realize the prompting to toilet user.
5. the feed robot of image procossing is based on as claimed in claim 4, it is characterised in that the robot also includes：
Dose measuring systems, the present dose for detecting each receiving space inner tube pipeline dredging agent；
Dosage warning device, is connected with dose measuring systems, and the present dose for the pipe-dredging agent when a certain type is less than
During preset dose, underdosage alarm signal is sent, to remind toilet user to add the pipe-dredging agent of respective type.
6. a kind of material supply method based on image procossing, it is characterised in that methods described includes：
The different types of pipe-dredging agent of different chemical components is placed into receiving spaces different on toilet in advance；
Automatic the releasing of water inside cistern is rinsed with the seat inner space to toilet；
Water velocity to the seat inner space of toilet carries out real-time detection, obtains real-time water velocity, and based on Real-time Water
Flow velocity degree calculates the average current velocity in this flushing process；
The type of the pipe-dredging agent to be discharged is determined based on average current velocity；
Certain type of pipe-dredging agent is discharged into the seat inner space of toilet to realize the seat inner space to toilet
The dredging of middle pipeline；
Wherein, various types of pipe-dredging agents all include：NaOH, sodium dichloro cyanurate, sodium hypochlorite, tartaric acid,
Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent are the dispensing percentage difference of NaOH,
Various types of pipe-dredging agents are based on NaOH dispensing percentage number be divided into weak property pipe-dredging agent, general pipe
Pipeline dredging agent, strong pipe dredging agent and fast siphunculus pipeline dredging agent.
7. the material supply method of image procossing is based on as claimed in claim 6, it is characterised in that described based on average current
Speed determines that the type of the pipe-dredging agent to be discharged specifically includes following steps：
Seat inner space to toilet carries out high-definition image data acquisition to obtain high-definition digital image；
Holding edge filter is carried out to high-definition digital image to remove the salt-pepper noise or impulsive noise in high-definition digital image, is obtained
Obtain the first filtering image；
Gaussian filtering process is carried out to the first filtering image to remove the Gaussian noise in the first filtering image, is obtained second and is filtered
Image, the Gaussian noise includes that maximum amplitude value is small more than the significantly angle value Gaussian noise and maximum amplitude value of predetermined amplitude value
In the amplitude value Gaussian noise equal to predetermined amplitude value；
Second filtering image is carried out binary conversion treatment to obtain binary image；
Object matching is carried out to binary image to process the type to determine the tamper in binary image and blocked up as target
Plug thing type is exported, and the object matching treatment includes with the reference pattern of all kinds tamper entering binary image one by one
Row form fit is determining the type of the tamper in binary image；
The type of the pipe-dredging agent to be discharged is determined based on average current velocity and target tamper type, wherein, average water
Flow velocity degree is smaller, and the dispensing percentage of NaOH is bigger in certain type of pipe-dredging agent, target tamper type correspondence
Corrosion difficulty it is bigger, the dispensing percentage of NaOH is bigger in certain type of pipe-dredging agent, works as average current velocity
During more than default current threshold value, certain type of pipe-dredging agent is nothing；
Wherein, it is described to carry out gaussian filtering process to the first filtering image to remove the Gaussian noise bag in the first filtering image
Include：The treatment of self adaptation recursive filtering is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter figure
Picture, middle filtering image is carried out Wiener filtering treatment with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, all kinds tamper include greasy dirt, dish leaf, tealeaves, hair, toilet paper, excrement, rubbish from cooking, polybag and
Cloth.
8. the material supply method based on image procossing as claimed in claim 7, it is characterised in that it is described will be certain type of
The dredging that pipe-dredging agent is discharged into the seat inner space of toilet to realize pipeline in the seat inner space to toilet is specific
Comprise the following steps：
The opening of receiving space where certain type of pipe-dredging agent is opened to be automatically releasable certain type of pipe-dredging agent；
Wherein, when certain type of pipe-dredging agent be without when, receiving space where any type of pipe-dredging agent is not opened
Opening, send artificial flushing signal.
9. the material supply method of image procossing is based on as claimed in claim 8, it is characterised in that will determine type described
Pipe-dredging agent be discharged into the seat inner space of toilet with realize pipeline in the seat inner space to toilet dredging it
Afterwards, methods described is further comprising the steps of：
Determine to need the number of times of artificial flushing based on average current velocity；
While display artificial flushing signal, display needs the number of times of artificial flushing, to realize the prompting to toilet user.
10. the material supply method based on image procossing as claimed in claim 9, it is characterised in that methods described also include with
Lower step：
Detect the present dose of each receiving space inner tube pipeline dredging agent；
When the present dose of the pipe-dredging agent of a certain type is less than preset dose, underdosage alarm signal is sent, to carry
The toilet user that wakes up adds the pipe-dredging agent of respective type.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710961267.0A CN107724492B (en) | 2017-02-21 | 2017-02-21 | Feeding robot based on image processing |
| CN201710091418.1A CN106836426B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
| CN201710473328.9A CN107254905B (en) | 2017-02-21 | 2017-02-21 | Feed robot based on image procossing |
| CN201710462737.9A CN107217718B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710091418.1A CN106836426B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710473328.9A Division CN107254905B (en) | 2017-02-21 | 2017-02-21 | Feed robot based on image procossing |
| CN201710462737.9A Division CN107217718B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
| CN201710961267.0A Division CN107724492B (en) | 2017-02-21 | 2017-02-21 | Feeding robot based on image processing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106836426A true CN106836426A (en) | 2017-06-13 |
| CN106836426B CN106836426B (en) | 2017-12-19 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710462737.9A Active CN107217718B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
| CN201710473328.9A Active CN107254905B (en) | 2017-02-21 | 2017-02-21 | Feed robot based on image procossing |
| CN201710961267.0A Active CN107724492B (en) | 2017-02-21 | 2017-02-21 | Feeding robot based on image processing |
| CN201710091418.1A Expired - Fee Related CN106836426B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
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| CN201710462737.9A Active CN107217718B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
| CN201710473328.9A Active CN107254905B (en) | 2017-02-21 | 2017-02-21 | Feed robot based on image procossing |
| CN201710961267.0A Active CN107724492B (en) | 2017-02-21 | 2017-02-21 | Feeding robot based on image processing |
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| CN107254905A (en) * | 2017-02-21 | 2017-10-17 | 宋妍 | Feed robot based on image procossing |
| CN108331106A (en) * | 2018-03-18 | 2018-07-27 | 蔡晓青 | Computer picture recognition formula dredging system |
| CN108731772A (en) * | 2018-03-20 | 2018-11-02 | 丁敏 | Big data measurement method |
| CN108729517A (en) * | 2018-03-18 | 2018-11-02 | 蔡晓青 | Computer picture recognition formula dredging system and method |
| CN108999259A (en) * | 2018-03-19 | 2018-12-14 | 解晗 | The application method of intelligent device based on computer module |
| CN109235572A (en) * | 2018-09-26 | 2019-01-18 | 东莞幻鸟新材料有限公司 | A kind of closestool intelligence dredging system |
| CN109406458A (en) * | 2018-03-20 | 2019-03-01 | 吴永慧 | Cloud measurement method |
| CN109581520A (en) * | 2018-12-05 | 2019-04-05 | 余姚德诚科技咨询有限公司 | Conveying type personnel's scanning system |
| CN109602305A (en) * | 2018-12-03 | 2019-04-12 | 余姚市腾翔电子科技有限公司 | The automatic dispatching platform of dredging agent |
| WO2019233181A1 (en) * | 2018-06-06 | 2019-12-12 | Zhou Chaoqiang | Constant-temperature control electric blower |
| CN111188392A (en) * | 2020-01-15 | 2020-05-22 | 李勇妹 | Method for cleaning intelligent closestool and toilet bowl for puerpera |
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| CN108729517A (en) * | 2018-03-18 | 2018-11-02 | 蔡晓青 | Computer picture recognition formula dredging system and method |
| CN108331106A (en) * | 2018-03-18 | 2018-07-27 | 蔡晓青 | Computer picture recognition formula dredging system |
| CN108999259A (en) * | 2018-03-19 | 2018-12-14 | 解晗 | The application method of intelligent device based on computer module |
| CN108731772A (en) * | 2018-03-20 | 2018-11-02 | 丁敏 | Big data measurement method |
| CN109406458A (en) * | 2018-03-20 | 2019-03-01 | 吴永慧 | Cloud measurement method |
| WO2019233181A1 (en) * | 2018-06-06 | 2019-12-12 | Zhou Chaoqiang | Constant-temperature control electric blower |
| CN109235572A (en) * | 2018-09-26 | 2019-01-18 | 东莞幻鸟新材料有限公司 | A kind of closestool intelligence dredging system |
| CN109602305A (en) * | 2018-12-03 | 2019-04-12 | 余姚市腾翔电子科技有限公司 | The automatic dispatching platform of dredging agent |
| CN109581520A (en) * | 2018-12-05 | 2019-04-05 | 余姚德诚科技咨询有限公司 | Conveying type personnel's scanning system |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107254905A (en) | 2017-10-17 |
| CN107724492A (en) | 2018-02-23 |
| CN107217718A (en) | 2017-09-29 |
| CN107217718B (en) | 2018-03-23 |
| CN107254905B (en) | 2018-06-01 |
| CN106836426B (en) | 2017-12-19 |
| CN107724492B (en) | 2020-09-01 |
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