CN107217718B - Feed robot and method based on image procossing - Google Patents
Feed robot and method based on image procossing Download PDFInfo
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- CN107217718B CN107217718B CN201710462737.9A CN201710462737A CN107217718B CN 107217718 B CN107217718 B CN 107217718B CN 201710462737 A CN201710462737 A CN 201710462737A CN 107217718 B CN107217718 B CN 107217718B
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- 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
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Water Supply & Treatment (AREA)
- Epidemiology (AREA)
- Cleaning In General (AREA)
- Sanitary Device For Flush Toilet (AREA)
- Domestic Plumbing Installations (AREA)
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 closestool are detected in real time, obtain real-time water velocity, and calculate the average current velocity in this flushing process；Type determination device, for determining the type for the pipe-dredging agent to be discharged based on average current velocity；Automatic releasing device, for certain type of pipe-dredging agent to be discharged into the seat inner space of closestool to realize the dredging of pipeline in the seat inner space to closestool.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 the intelligent supply of dredging material, provided conveniently for the use of closestool user.
Description
The present invention is Application No. 201710091418.1, the applying date to be on 2 21st, 2017, entitled " be based on
The divisional application of the patent of the feed robot and method of image procossing ".
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 closestool 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 closestool ".The closestool that Ancient Chinese Folk uses 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 practical closestool --- 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 as controlled water tank
In water-carrying capacity three ball valves, and U-bend etc..
19th century, British government make laws, it is specified 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, the patent that Thomas's soil prestige good fortune obtains first full ceramic bowl in Britain, there is number every year thereafter
The patent of ten improvement is granted.The new ceramic factory (predecessor of Tangshan Ceramics Factory) of opening opened by Englishman in Tangshan produces within 1914
Chinese first ceramic bowl.
19th century, sixties water closet started American-European prevailing, to pass to the Asian countries such as Japan, South Korea later.
As can be seen here, closestool is with a long history, and its basic structure is shaped already, however, people can still run into when in use
Perplex below：When closestool blocks, chocking-up degree and plugging material inside closestool 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 and method based on image procossing, first
The dredging material that various dredging dynamics differ 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 closestool.
According to an aspect of the present invention, there is provided a kind of feed robot based on image procossing, the robot include：
Storage device, it is different for the different types of pipe-dredging agent of different chemical components to be placed on closestool in advance
Receiving space in；
Starter is rinsed, for the water inside cistern to be released to be carried out to the seat inner space of closestool automatically
Rinse；
Average current detection means, the water velocity for the seat inner space to closestool are detected in real time, are obtained
Real-time water velocity, and the average current velocity in this flushing process is calculated based on real-time water velocity；
Type determination device, it is connected with the average current detection means, for determining to release based on average current velocity
The type for the pipe-dredging agent put；
Automatic releasing device, it is connected with the type determination device, for certain type of pipe-dredging agent to be discharged into
The seat inner space of closestool is to realize the dredging of pipeline in the seat inner space to closestool；
Wherein, various types of pipe-dredging agents all include：Sodium hydroxide, sodium dichloro cyanurate, sodium hypochlorite, winestone
Acid, Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent are the dispensing percentage of sodium hydroxide not
Together, the number of dispensing percentage of various types of pipe-dredging agents based on sodium hydroxide is 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 specifically includes：
Data acquisition unit, for carrying out high-definition image data acquisition to the seat inner space of closestool to obtain high definition number
Word image；
First filter unit, it is connected with the data acquisition unit, 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, it is connected with first filter unit, for being carried out to the first filtering image at gaussian filtering
Reason obtains the second filtering image, the Gaussian noise includes maximum amplitude value to remove the Gaussian noise in the first filtering image
Significantly angle value Gaussian noise and maximum amplitude value more than predetermined amplitude value are less than or equal to the amplitude value Gauss of predetermined amplitude value
Noise；
Binarization unit, it is connected with the second filter unit, for carrying out binary conversion treatment to the second filtering image to obtain
Binary image；
Object matching unit, is connected with binarization unit, is handled for carrying out object matching to binary image to determine
The type of tamper in binary image simultaneously includes two-value as the output of target tamper type, the object matching processing
The reference pattern for changing image and all kinds tamper carries out form fit to determine the tamper in binary image one by one
Type；
Type determining units, it is connected respectively with average current detection means and object matching unit, for based on average water
Flow velocity degree and target tamper type determine the type for the pipe-dredging agent to be discharged, wherein, average current velocity is smaller, it is determined that
The dispensing percentage of sodium hydroxide is bigger in the pipe-dredging agent of type, and corrosion difficulty is bigger corresponding to target tamper type,
The dispensing percentage of sodium hydroxide 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, it is described that gaussian filtering process is carried out to the first filtering image to remove the Gaussian noise in the first filtering image
Including：Adaptive recursive filtering processing is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter
Image, Wiener filtering processing is carried out to middle filtering image 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 specifically includes：
Switch element, the opening for receiving space where opening certain type of pipe-dredging agent are determined with automatic release
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, send artificial flushing signal.
More specifically, in the feed robot based on image procossing, in addition to：
Washing time determining device, is connected with automatic releasing device, for determining to need manually based on average current velocity
The number of flushing；
Display device, it is connected respectively with automatic releasing device and washing time determining device, for showing that artificial flushing is believed
Number while, display needs the number of artificial flushing, to realize the prompting to closestool user.
More specifically, in the feed robot based on image procossing, in addition to：
Dose measuring systems, for detecting the present dose of each receiving space inner tube pipeline dredging agent；
Dosage warning device, is connected with dose measuring systems, the present dose for the pipe-dredging agent when a certain type
During less than preset dose, underdosage alarm signal is sent, to remind closestool 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 space different on closestool in advance；
Water inside cistern is released automatically and is rinsed with the seat inner space to closestool；
The water velocity of the seat inner space of closestool is detected in real time, obtains real-time water velocity, and based on real
When water velocity calculate average current velocity in this flushing process；
The type for 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 closestool to realize inside the seat to closestool
The dredging of pipeline in space；
Wherein, various types of pipe-dredging agents all include：Sodium hydroxide, sodium dichloro cyanurate, sodium hypochlorite, winestone
Acid, Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent are the dispensing percentage of sodium hydroxide not
Together, the number of dispensing percentage of various types of pipe-dredging agents based on sodium hydroxide is 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 for the pipe-dredging agent to be discharged specifically includes following steps：
High-definition image data acquisition is carried out to obtain high-definition digital image to the seat inner space of closestool；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 include the significantly angle value Gaussian noise and amplitude peak that maximum amplitude value exceedes predetermined amplitude value
Amplitude value Gaussian noise of the value less than or equal to predetermined amplitude value；Binary conversion treatment is carried out to the second filtering image to obtain two-value
Change image；
Object matching processing is carried out to binary image to determine the type of the tamper in binary image and be used as mesh
Mark the output of tamper type, the object matching processing 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 for 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 sodium hydroxide is bigger in certain type of pipe-dredging agent, target tamper type
Corresponding corrosion difficulty is bigger, and the dispensing percentage of sodium hydroxide 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, it is described that gaussian filtering process is carried out to the first filtering image to remove the Gaussian noise in the first filtering image
Including：Adaptive recursive filtering processing is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter
Image, Wiener filtering processing is carried out to middle filtering image 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
Agent is discharged into the seat inner space of closestool to realize that it is following that the dredging of pipeline in the seat inner space to closestool specifically includes
Step：
The opening of receiving space is dredged with discharging certain type of pipeline automatically where opening certain type of pipe-dredging agent
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, send 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 closestool to realize in the seat inner space to closestool after the dredging of pipeline, the side
Method is further comprising the steps of：
Determine to need the number of artificial flushing based on average current velocity；While showing artificial flushing signal, display needs
The number of artificial flushing is wanted, to realize the prompting to closestool user.
More specifically, in the material supply method based on image procossing, it is further comprising the steps of：Detect each appearance
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 closestool user to add the pipe-dredging agent of respective type.
It can to sum up draw, key inventive of the invention point is：
First, prestored the dredging material that various dredging dynamics differ, and is alarmed when dredging material deficiency；
Secondly, the blocked state inside closestool is accurately detected, and based on the suitable dredging material of blocked state selection；
Again, release suitable dredging material and carry out automatic dredging, whole process need not be participated in manually, realize closestool
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.
Fig. 2 is the step flow chart of the material supply method based on image procossing according to embodiment of the present invention.
Reference：1 storage device；2 rinse starter；3 average current detection means；4 type determination devices；5 certainly
Dynamic release device.
Embodiment
The embodiment of the feed robot based on image procossing of the present invention is carried out specifically below with reference to accompanying drawings
It is bright.
The appearance of closestool brings many convenience, however, when stopping state occurs in closestool, these conveniences are complete
It is converted into perplexing.People need to use one's brains, artificial to carry out the normal one by one of scheme according to the limited stopping state that oneself is observed
Know.
Common dredging scheme has：
1st, a manual dredge (thing of appearance picture root spring) is bought to debris shop, dredged manually；
2nd, mop method：Mop is placed on closestool mouth first, then discharged water, ensures that water floods mop.Then with forcing pier
Cloth, it is filled in closestool mouth as far as possible, finally mop lifted with most fast speed, such action repeatedly, the east in closestool
West will be come out by suck-back；
3rd, one section of longer plastic water pipe is looked for, one is connected to water, and one is filled in closestool mouth, then closestool mouth is used broken
The thing of cloth etc is blocked, and then opens running water, can so utilize hydraulic pressure dredging pipeline；
If the 4, closestool is blocked by hard thing, first inhaled with closestool and dirt carried down, discharged water while carry, make in toilet bowl
Only clear water, is then stained with water with towel dry, looks for one piece small border, that small mirror e.g. cosmetically, a torch,
Small mirror is put into the bottommost of toilet seat, and the angle for adjusting light source and mirror can see a part inside pipeline, generally small
Thing can be stuck in pipeline most the inside and want downward corner, look for a proper iron wire, being stuck in pocket-handkerchief with iron wire enters
Row solves.
5th, the dredging company or dredging worker for finding specialty are manually dredged.
As can be seen here, all purge operations are required for manually being observed, and manually carry out selection dredging material and experience personally
Parent for ground dredged, on the one hand, take time and effort, on the other hand, it is easy to touch by dredged during dirt, it is more crucial
If scheme is not right, blockage problem can not be solved, and closestool can not be continuing with, and the live and work to user is brought not
Just.
In order to overcome above-mentioned deficiency, the present invention has built a kind of feed robot and method based on image procossing, taken
Full automatic dredging material dredge the correct selection of material and automatic leakage dredging, while is judging that material need not be dredged
In the case of material, it is determined that needing the number of artificial flushing, and artificial flushing and washing time will be needed to notify in time to user,
So as to avoid dredging the waste of material.
Fig. 1 be according to embodiment of the present invention based on image procossing feed robot block diagram, 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 closestool in advance
Receiving space in；
Starter is rinsed, for the water inside cistern to be released to be carried out to the seat inner space of closestool automatically
Rinse；
Average current detection means, the water velocity for the seat inner space to closestool are detected in real time, are obtained
Real-time water velocity, and the average current velocity in this flushing process is calculated based on real-time water velocity；
Type determination device, it is connected with the average current detection means, for determining to release based on average current velocity
The type for the pipe-dredging agent put；
Automatic releasing device, it is connected with the type determination device, for certain type of pipe-dredging agent to be discharged into
The seat inner space of closestool is to realize the dredging of pipeline in the seat inner space to closestool；
Wherein, various types of pipe-dredging agents all include：Sodium hydroxide, sodium dichloro cyanurate, sodium hypochlorite, winestone
Acid, Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent are the dispensing percentage of sodium hydroxide not
Together, the number of dispensing percentage of various types of pipe-dredging agents based on sodium hydroxide is 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 present invention
It is bright.
In the robot, the type determination device specifically includes：
Data acquisition unit, for carrying out high-definition image data acquisition to the seat inner space of closestool to obtain high definition number
Word image；
First filter unit, it is connected with the data acquisition unit, 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, it is connected with first filter unit, for being carried out to the first filtering image at gaussian filtering
Reason obtains the second filtering image, the Gaussian noise includes maximum amplitude value to remove the Gaussian noise in the first filtering image
Significantly angle value Gaussian noise and maximum amplitude value more than predetermined amplitude value are less than or equal to the amplitude value Gauss of predetermined amplitude value
Noise；
Binarization unit, it is connected with the second filter unit, for carrying out binary conversion treatment to the second filtering image to obtain
Binary image；
Object matching unit, is connected with binarization unit, is handled for carrying out object matching to binary image to determine
The type of tamper in binary image simultaneously includes two-value as the output of target tamper type, the object matching processing
The reference pattern for changing image and all kinds tamper carries out form fit to determine the tamper in binary image one by one
Type；
Type determining units, it is connected respectively with average current detection means and object matching unit, for based on average water
Flow velocity degree and target tamper type determine the type for the pipe-dredging agent to be discharged, wherein, average current velocity is smaller, it is determined that
The dispensing percentage of sodium hydroxide is bigger in the pipe-dredging agent of type, and corrosion difficulty is bigger corresponding to target tamper type,
The dispensing percentage of sodium hydroxide 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, it is described that gaussian filtering process is carried out to the first filtering image to remove the Gaussian noise in the first filtering image
Including：Adaptive recursive filtering processing is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter
Image, Wiener filtering processing is carried out to middle filtering image 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 specifically includes：
Switch element, the opening for receiving space where opening certain type of pipe-dredging agent are determined with automatic release
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, send artificial flushing signal.
In the robot, in addition to：
Washing time determining device, is connected with automatic releasing device, for determining to need manually based on average current velocity
The number of flushing；
Display device, it is connected respectively with automatic releasing device and washing time determining device, for showing that artificial flushing is believed
Number while, display needs the number of artificial flushing, to realize the prompting to closestool user.
In the robot, in addition to：
Dose measuring systems, for detecting the present dose of each receiving space inner tube pipeline dredging agent；
Dosage warning device, is connected with dose measuring systems, the present dose for the pipe-dredging agent when a certain type
During less than preset dose, underdosage alarm signal is sent, to remind closestool user to add the pipe-dredging agent of respective type.
Fig. 2 is the step flow chart of the material supply method based on image procossing according to embodiment of the present invention,
Methods described includes：
The different types of pipe-dredging agent of different chemical components is placed into receiving space different on closestool in advance；
Water inside cistern is released automatically and is rinsed with the seat inner space to closestool；
The water velocity of the seat inner space of closestool is detected in real time, obtains real-time water velocity, and based on real
When water velocity calculate average current velocity in this flushing process；
The type for 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 closestool to realize inside the seat to closestool
The dredging of pipeline in space；
Wherein, various types of pipe-dredging agents all include：Sodium hydroxide, sodium dichloro cyanurate, sodium hypochlorite, winestone
Acid, Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent are the dispensing percentage of sodium hydroxide not
Together, the number of dispensing percentage of various types of pipe-dredging agents based on sodium hydroxide is 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 present 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：
High-definition image data acquisition is carried out to obtain high-definition digital image to the seat inner space of closestool；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 include the significantly angle value Gaussian noise and amplitude peak that maximum amplitude value exceedes predetermined amplitude value
Amplitude value Gaussian noise of the value less than or equal to predetermined amplitude value；Binary conversion treatment is carried out to the second filtering image to obtain two-value
Change image；
Object matching processing is carried out to binary image to determine the type of the tamper in binary image and be used as mesh
Mark the output of tamper type, the object matching processing 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 for 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 sodium hydroxide is bigger in certain type of pipe-dredging agent, target tamper type
Corresponding corrosion difficulty is bigger, and the dispensing percentage of sodium hydroxide 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, it is described that gaussian filtering process is carried out to the first filtering image to remove the Gaussian noise in the first filtering image
Including：Adaptive recursive filtering processing is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter
Image, Wiener filtering processing is carried out to middle filtering image 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.
It is described that certain type of pipe-dredging agent is discharged into the seat inner space of closestool to realize pair in methods described
The dredging of pipeline specifically includes following steps in the seat inner space of closestool：
The opening of receiving space is dredged with discharging certain type of pipeline automatically where opening certain type of pipe-dredging agent
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, send artificial flushing signal.
In methods described, certain type of pipe-dredging agent is discharged into the seat inner space of closestool to realize described
After dredging to pipeline in the seat inner space of closestool, methods described is further comprising the steps of：
Determine to need the number of artificial flushing based on average current velocity；While showing artificial flushing signal, display needs
The number of artificial flushing is wanted, to realize the prompting to closestool 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 closestool user to add the pipe-dredging agent of respective type.
In addition, it can also include in the robot：CDMA passes through equipment, respectively with automatic releasing device and washing time
Determining device connects, for by artificial flushing signal and needing the number of artificial flushing to be wirelessly transmitted to the shifting that closestool user holds
Dynamic terminal.
In addition, it can also comprise the following steps in methods described：
By artificial flushing signal and the number of artificial flushing is needed to be wirelessly transmitted to the mobile terminal that closestool user holds.
Using the feed robot and method based on image procossing of the present invention, for closestool dredging demand in the prior art
The technical problem that manual operation is participated in the overall process, by the accurate detection to closestool blocked state, dredging the prestoring of material, dredge
Lead to coping style when material customizes selection mechanism and need not dredge material to complete the full-automatic dredging of closestool, meanwhile,
Carry out timely dosage also when dredging material deficiency to alarm, so as to improve the intelligent level of whole closestool.
It is understood that although the present invention is disclosed as above with preferred embodiment, but above-described embodiment and it is not used to
Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications are all made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of change.Therefore, every content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (2)
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 appearance different on closestool in advance
Receive in space；
Starter is rinsed, is rushed for the water inside cistern to be released automatically with the seat inner space to closestool
Wash；
Average current detection means, the water velocity for the seat inner space to closestool are detected in real time, are obtained real-time
Water velocity, and the average current velocity in this flushing process is calculated based on real-time water velocity；
Type determination device, it 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, it is connected with the type determination device, for certain type of pipe-dredging agent to be discharged into closestool
Seat inner space to realize the dredging of pipeline in the seat inner space to closestool；
Wherein, various types of pipe-dredging agents all include：Sodium hydroxide, sodium dichloro cyanurate, sodium hypochlorite, tartaric acid,
Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent are that the dispensing percentage of sodium hydroxide is different,
By dispensing percentage of various types of pipe-dredging agents based on sodium hydroxide number be divided into weak property pipe-dredging agent, general pipe
Pipeline dredging agent, strong pipe dredging agent and fast siphunculus pipeline dredging agent；
The type determination device is specifically included with lower unit：
Data acquisition unit, for carrying out high-definition image data acquisition to the seat inner space of closestool to obtain high-definition digital figure
Picture；
First filter unit, be connected with the data acquisition unit, for high-definition digital image carry out holding edge filter with
The salt-pepper noise or impulsive noise in high-definition digital image are removed, obtains the first filtering image；
Second filter unit, be connected with first filter unit, for the first filtering image carry out gaussian filtering process with
The Gaussian noise in the first filtering image is removed, obtains the second filtering image, the Gaussian noise exceedes including maximum amplitude value
The significantly angle value Gaussian noise and maximum amplitude value of predetermined amplitude value are less than or equal to the amplitude value Gaussian noise of predetermined amplitude value；
Binarization unit, it is connected with the second filter unit, for carrying out binary conversion treatment to the second filtering image to obtain two-value
Change image；
Object matching unit, is connected with binarization unit, is handled for carrying out object matching to binary image to determine two-value
Change the type of the tamper in image and include as the output of target tamper type, the object matching processing by binary picture
As the reference pattern with all kinds tamper carries out form fit to determine the type of the tamper in binary image one by one；
Type determining units, it is connected respectively with average current detection means and object matching unit, for based on average water flow velocity
Degree and target tamper type determine the type for the pipe-dredging agent to be discharged, wherein, average current velocity is smaller, determines type
Pipe-dredging agent in sodium hydroxide dispensing percentage it is bigger, corrosion difficulty is bigger corresponding to target tamper type, it is determined that
The dispensing percentage of sodium hydroxide 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 that gaussian filtering process is carried out to the first filtering image to remove the Gaussian noise bag in the first filtering image
Include：Adaptive recursive filtering processing is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter figure
Picture, Wiener filtering processing is carried out to middle filtering image 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；
The automatic releasing device is specifically included with lower unit：
Switch element, the opening for receiving space where opening certain type of pipe-dredging agent determine type with automatic release
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, send artificial flushing signal.
2. 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 space different on closestool in advance；
Water inside cistern is released automatically and is rinsed with the seat inner space to closestool；
The water velocity of the seat inner space of closestool is detected in real time, obtains real-time water velocity, and be based on Real-time Water
Flow velocity degree calculates the average current velocity in this flushing process；
The type for 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 closestool to realize the seat inner space to closestool
The dredging of middle pipeline；
Wherein, various types of pipe-dredging agents all include：Sodium hydroxide, sodium dichloro cyanurate, sodium hypochlorite, tartaric acid,
Nekal BX-78, bentonite and essence, the different chemical components of pipe-dredging agent are that the dispensing percentage of sodium hydroxide is different,
By dispensing percentage of various types of pipe-dredging agents based on sodium hydroxide number be divided into weak property pipe-dredging agent, general pipe
Pipeline dredging agent, strong pipe dredging agent and fast siphunculus pipeline dredging agent；
It is described to determine that the type for the pipe-dredging agent to be discharged specifically includes following steps based on average current velocity：
High-definition image data acquisition is carried out to obtain high-definition digital image to the seat inner space of closestool；
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, obtains the second filtering
Image, it is small more than the significantly angle value Gaussian noise and maximum amplitude value of predetermined amplitude value that the Gaussian noise includes maximum amplitude value
In the amplitude value Gaussian noise equal to predetermined amplitude value；
Binary conversion treatment is carried out to the second filtering image to obtain binary image；
Object matching processing is carried out to binary image to determine the type of the tamper in binary image and be blocked up as target
Plug thing type exports, and the object matching processing includes one by one entering the reference pattern of binary image and all kinds tamper
Row form fit is to determine the type of the tamper in binary image；
The type for 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 sodium hydroxide is bigger in certain type of pipe-dredging agent, and target tamper type is corresponding
Corrosion difficulty it is bigger, the dispensing percentage of sodium hydroxide 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 that gaussian filtering process is carried out to the first filtering image to remove the Gaussian noise bag in the first filtering image
Include：Adaptive recursive filtering processing is carried out to the first filtering image to remove amplitude value Gaussian noise to obtain median filter figure
Picture, Wiener filtering processing is carried out to middle filtering image 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；
It is described that certain type of pipe-dredging agent is discharged into the seat inner space of closestool to realize inside the seat to closestool
The dredging of pipeline specifically includes following steps in space：
The opening of receiving space where opening certain type of pipe-dredging agent to discharge certain type of pipe-dredging agent automatically；
Wherein, when certain type of pipe-dredging agent be without when, do not open receiving space where any type of pipe-dredging agent
Opening, send artificial flushing signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710462737.9A CN107217718B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
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| CN201710091418.1A CN106836426B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
| CN201710462737.9A CN107217718B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
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| CN201710091418.1A Division CN106836426B (en) | 2017-02-21 | 2017-02-21 | Feed robot and method based on image procossing |
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| CN107217718B true CN107217718B (en) | 2018-03-23 |
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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 |
| 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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| 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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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107217718B (en) * | 2017-02-21 | 2018-03-23 | 张玉红 | Feed robot and method based on image procossing |
| CN108331106B (en) * | 2018-03-18 | 2018-12-28 | 由佳鑫 | Computer picture recognition formula dredging system |
| CN108729517A (en) * | 2018-03-18 | 2018-11-02 | 蔡晓青 | Computer picture recognition formula dredging system and method |
| CN108999259B (en) * | 2018-03-19 | 2019-04-12 | 新昌县勤勉贸易有限公司 | The application method of intelligent device based on computer module |
| CN109406458B (en) * | 2018-03-20 | 2019-06-21 | 上海工业控制安全创新科技有限公司 | Cloud measurement method |
| CN108731772B (en) * | 2018-03-20 | 2019-08-23 | 奥菲(泰州)光电传感技术有限公司 | Liquid level big data measuring system |
| CN109907462A (en) * | 2018-06-06 | 2019-06-21 | 周超强 | Thermostatic control type hair dryer |
| 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002021148A (en) * | 2000-07-04 | 2002-01-23 | Toto Ltd | Toilet managing device |
| DE10164866B4 (en) * | 2000-11-17 | 2007-06-14 | Henkel Kgaa | Dispensing device for dispensing active fluids into the rinsing fluid in a toilet bowl |
| CN1245560C (en) * | 2002-12-27 | 2006-03-15 | 士平有限公司 | Timed distribution controller |
| US8359679B2 (en) * | 2007-02-16 | 2013-01-29 | Donald L Martin | Toilet clog removal and cleaning system |
| CN101105050A (en) * | 2007-08-05 | 2008-01-16 | 遂昌千赢工业品设计有限公司 | Toilet easy to dredging |
| US8407821B2 (en) * | 2008-10-31 | 2013-04-02 | Mark Kit Jiun Chan | Intelligent flushing system |
| KR101977027B1 (en) * | 2012-03-28 | 2019-05-10 | 웅진코웨이 주식회사 | Cleaning apparatus for sanitary ware with device for supplying bubble and cleaning sanitary ware using the same |
| CN102746958B (en) * | 2012-07-20 | 2015-02-18 | 北京雅迪力特航空化学制品有限公司 | Matched cleaning agent for vacuum drainage pipelines of airplane toilets and preparation method and cleaning process of matched cleaning agent |
| CN103666852A (en) * | 2012-09-18 | 2014-03-26 | 焦趁英 | Pipeline dredge agent |
| CN103224847B (en) * | 2013-04-23 | 2014-08-13 | 广州立白企业集团有限公司 | Pipeline dredging solid agent with oxygen activating and degerming efficacies and preparation method thereof |
| CN103352502A (en) * | 2013-07-22 | 2013-10-16 | 庄景阳 | Numerical control device for adjusting toilet bowl cleaner |
| CN205742441U (en) * | 2016-07-04 | 2016-11-30 | 洪参桂 | A kind of bathroom utensil |
| CN107217718B (en) * | 2017-02-21 | 2018-03-23 | 张玉红 | Feed robot and method based on image procossing |
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- 2017-02-21 CN CN201710462737.9A patent/CN107217718B/en active Active
- 2017-02-21 CN CN201710473328.9A patent/CN107254905B/en active Active
- 2017-02-21 CN CN201710961267.0A patent/CN107724492B/en active Active
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| CN107217718A (en) | 2017-09-29 |
| CN106836426A (en) | 2017-06-13 |
| CN107724492B (en) | 2020-09-01 |
| CN106836426B (en) | 2017-12-19 |
| CN107254905B (en) | 2018-06-01 |
| CN107724492A (en) | 2018-02-23 |
| CN107254905A (en) | 2017-10-17 |
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