CN107254905B - Feed robot based on image procossing - Google Patents
Feed robot based on image procossing Download PDFInfo
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- CN107254905B CN107254905B CN201710473328.9A CN201710473328A CN107254905B CN 107254905 B CN107254905 B CN 107254905B CN 201710473328 A CN201710473328 A CN 201710473328A CN 107254905 B CN107254905 B CN 107254905B
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- China
- Prior art keywords
- pipe
- type
- dredging
- dredging agent
- closestool
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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 robots based on image procossing, and 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 device, the water velocity for the seat inner space to closestool are detected in real time, are obtained real-time water velocity, and are calculated 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 methods based on image procossing.By means of the invention it is possible to realize the intelligent supply of dredging material, provided a convenient 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 robots based on image procossing.
Background technology
Done detailed literature record at first for closestool is Chinese Northern Song Dynasty OUYANG xiu《It resigns 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 three ball valves of water flow 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 of BritainKe Laipa has invented a set of advanced water-saving flushing robot, waste
Discharge just initially enters modernization period.
1885, the patent that Thomas's soil prestige good fortune obtains first full ceramic bowl in Britain had 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.
It can be seen that closestool is with a long history, basic structure early has been formed, 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 not realize the effect of dredging.
The content of the invention
It to solve the above-mentioned problems, first will be various the present invention provides a kind of feed robot based on image procossing
The dredging material that dredging dynamics differs is pre-stored in the different accommodation spaces in toilet main body, secondly, determines average current velocity
Element is determined for blocked state, with target tamper type again, using high-precision sensor and image recognition apparatus to above-mentioned
Element is accurately detected, and is determined the dredging material needed according to testing result and automatically opened required dredge where material
Accommodation space, so as to fulfill the automatic dredging of closestool.
According to an aspect of the present invention, a kind of feed robot based on image procossing is provided, the 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
Accommodation space in；
Starter is rinsed, for the water inside cistern to release to carry out the seat inner space of closestool automatically
It rinses；
Average current detection device, 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 is connected with the average current detection device, for determining to release based on average current velocity
The type for 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 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 obtaining high definition number to the progress high-definition image data acquisition of the seat inner space of closestool
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 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 is connected with the second filter unit, for being obtained to the second filtering image progress binary conversion treatment
Binary image；
Object matching unit, is connected with binarization unit, for carrying out object matching processing to binary image with definite
The type of tamper in binary image is simultaneously exported as target tamper type, and the object matching processing is included two-value
The reference pattern for changing image and various types tamper carries out form fit to determine the tamper in binary image one by one
Type；
Type determining units are connected respectively with average current detection device and object matching unit, for being 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
The dispensing percentage of sodium hydroxide is bigger in the pipe-dredging agent of type, and the corresponding corrosion difficulty of target tamper type is bigger,
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 and obtains median filter to remove amplitude value Gaussian noise
Image, Wiener filtering processing is carried out to intermediate filtering image with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, various types 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 unit, the opening of accommodation space is determined with automatic release where being used to open certain type of pipe-dredging agent
The pipe-dredging agent of type；
Wherein, when certain type of pipe-dredging agent for it is no when, switch unit does not open any type of pipe-dredging agent
The opening of place accommodation space sends artificial flushing signal.
More specifically, in the feed robot based on image procossing, further include：
Washing time determining device, is connected with automatic releasing device, artificial for determining to need based on average current velocity
The number of flushing；
Display device 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, further include：
Dose measuring systems, for detecting the present dose of each accommodation space inner tube pipeline dredging agent；
Dosage warning device, is connected with dose measuring systems, for working as the present dose of the pipe-dredging agent of a certain type
During less than preset dose, underdosage alarm signal is sent, closestool user to be reminded to add the pipe-dredging agent of respective type.
Description of the drawings
Embodiment of the present invention is described below with reference to attached 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 numeral：1 storage device；2 rinse starter；3 average current detection devices；4 type determination devices；5 certainly
Dynamic release device.
Specific 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, 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 sundries shop, dredged manually；
2nd, mop method：Mop is placed on closestool mouth first, is then discharged water, ensures that water floods mop.Then with forcing pier
Cloth is as far as possible filled in it in closestool mouth, finally mop is 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 tap water, can so utilize hydraulic pressure dredging pipeline；
It if the 4, closestool is blocked by hard object, is first inhaled with closestool and dirt is 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 flashlight,
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, usually small
Thing can be stuck in pipeline most the inside want downward corner, look for a proper iron wire, with iron wire be stuck in pocket-handkerchief into
Row solves.
5th, the dredging company or dredging worker for finding specialty are manually dredged.
It can be seen that all purge operations are required for manually being observed, manually make choice 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 solve, and closestool can not be continuing with, and be brought not to the live and work of user
Just.
In order to overcome above-mentioned deficiency, the present invention has built a kind of feed robot and method based on image procossing, has taken
Full automatic dredging material carries out the correct selection of dredging material and automatic leakage dredging, while is judging that material need not be dredged
It in the case of material, determines to need the number of artificial flushing, and artificial flushing and washing time will be needed to be notified in time to user,
So as to avoid the waste of dredging 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
Accommodation space in；
Starter is rinsed, for the water inside cistern to release to carry out the seat inner space of closestool automatically
It rinses；
Average current detection device, 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 is connected with the average current detection device, for determining to release based on average current velocity
The type for 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 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 obtaining high definition number to the progress high-definition image data acquisition of the seat inner space of closestool
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 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 is connected with the second filter unit, for being obtained to the second filtering image progress binary conversion treatment
Binary image；
Object matching unit, is connected with binarization unit, for carrying out object matching processing to binary image with definite
The type of tamper in binary image is simultaneously exported as target tamper type, and the object matching processing is included two-value
The reference pattern for changing image and various types tamper carries out form fit to determine the tamper in binary image one by one
Type；
Type determining units are connected respectively with average current detection device and object matching unit, for being 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
The dispensing percentage of sodium hydroxide is bigger in the pipe-dredging agent of type, and the corresponding corrosion difficulty of target tamper type is bigger,
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 and obtains median filter to remove amplitude value Gaussian noise
Image, Wiener filtering processing is carried out to intermediate filtering image with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, various types 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 unit, the opening of accommodation space is determined with automatic release where being used to open certain type of pipe-dredging agent
The pipe-dredging agent of type；
Wherein, when certain type of pipe-dredging agent for it is no when, switch unit does not open any type of pipe-dredging agent
The opening of place accommodation space sends artificial flushing signal.
In the robot, further include：
Washing time determining device, is connected with automatic releasing device, artificial for determining to need based on average current velocity
The number of flushing；
Display device 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, further include：
Dose measuring systems, for detecting the present dose of each accommodation space inner tube pipeline dredging agent；
Dosage warning device, is connected with dose measuring systems, for working as the present dose of the pipe-dredging agent of a certain type
During less than preset dose, underdosage alarm signal is sent, closestool user to be reminded 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,
The described method includes：
The different types of pipe-dredging agent of different chemical components is placed into accommodation 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 the method, it is described based on average current velocity determine the type for the pipe-dredging agent to be discharged specifically include with
Lower step：
High-definition image data acquisition is carried out to the seat inner space of closestool 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 include the significantly angle value Gaussian noise and amplitude peak that maximum amplitude value is more than predetermined amplitude value
Value is less than or equal to the amplitude value Gaussian noise of 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 as mesh
Mark the output of tamper type, the object matching processing include by the reference pattern of binary image and various types 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, it puts 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 and obtains median filter to remove amplitude value Gaussian noise
Image, Wiener filtering processing is carried out to intermediate filtering image with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, various types 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 the method
The dredging of pipeline specifically includes following steps in the seat inner space of closestool：
The opening of accommodation 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 for it is no when, do not open and accommodate where any type of pipe-dredging agent
The opening in space sends artificial flushing signal.
In the method, certain type of pipe-dredging agent is discharged into the seat inner space of closestool to realize described
After the dredging of pipeline in the seat inner space of closestool, the 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.
It is further comprising the steps of in the method：
Detect the present dose of each accommodation 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,
Closestool user to be reminded 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 the number of artificial flushing being needed to be wirelessly transmitted to the shifting that closestool user holds
Dynamic terminal.
In addition, it can also comprise the following steps in the method：
By artificial flushing signal and the number of artificial flushing is needed to be wirelessly transmitted to the mobile terminal that closestool user holds.
Feed robot and method using the present invention based on image procossing, for closestool dredging demand in the prior art
The technical issues of manual operation is participated in the overall process by accurate detection to closestool blocked state, the prestoring of dredging material, is dredged
Lead to coping style when material customizes selection mechanism and need not dredge material to complete the full-automatic dredging of closestool, meanwhile,
It carries out timely dosage also when dredging material deficiency to alarm, so as to improve the intelligent level of entire closestool.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not 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 variation.Therefore, every content without departing from technical solution of the present invention, technical spirit pair according to the 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 (1)
1. a kind of feed robot based on image procossing, which is characterized 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
It receives in space；
Starter being rinsed, being rushed for releasing automatically the water inside cistern with the seat inner space to closestool
It washes；
Average current detection device, 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 is connected with the average current detection device, 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 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；
It is characterized in that, the type determination device is specifically included with lower unit：
Data acquisition unit, for obtaining high-definition digital figure to the progress high-definition image data acquisition of the seat inner space of closestool
Picture；
First filter unit is 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 is 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 is more than 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 is connected with the second filter unit, for obtaining two-value to the second filtering image progress binary conversion treatment
Change image；
Object matching unit, is connected with binarization unit, for carrying out object matching processing to binary image with definite two-value
Change the type of the tamper in image and as the output of target tamper type, the object matching processing is included binary picture
As the reference pattern with various types tamper carries out form fit with the type of the tamper in definite binary image one by one；
Type determining units are connected respectively with average current detection device and object matching unit, for being 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, target tamper type it is corresponding corrosion difficulty it is bigger, determine
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
It includes：Adaptive recursive filtering processing is carried out to the first filtering image and obtains median filter figure to remove amplitude value Gaussian noise
Picture, Wiener filtering processing is carried out to intermediate filtering image with remove significantly angle value Gaussian noise to obtain the second filtering image；
Wherein, various types 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 unit, the opening of accommodation space determines type with automatic release where being used to open certain type of pipe-dredging agent
Pipe-dredging agent；
Wherein, when certain type of pipe-dredging agent for it is no when, switch unit is not opened where any type of pipe-dredging agent
The opening of accommodation space sends artificial flushing signal；
The robot further includes：
Washing time determining device, is connected with automatic releasing device, for determining to need artificial flushing based on average current velocity
Number；
Display device is connected respectively with automatic releasing device and washing time determining device, for showing artificial flushing signal
Meanwhile display needs the number of artificial flushing, to realize the prompting to closestool user；
Dose measuring systems, for detecting the present dose of each accommodation space inner tube pipeline dredging agent；
Dosage warning device, is connected with dose measuring systems, and the present dose for working as the pipe-dredging agent of a certain type is less than
During preset dose, underdosage alarm signal is sent, closestool user to be reminded to add the pipe-dredging agent of respective type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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- 2017-02-21 CN CN201710091418.1A patent/CN106836426B/en not_active Expired - Fee Related
- 2017-02-21 CN CN201710961267.0A patent/CN107724492B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107724492B (en) | 2020-09-01 |
| CN107217718A (en) | 2017-09-29 |
| CN106836426B (en) | 2017-12-19 |
| CN107724492A (en) | 2018-02-23 |
| CN107254905A (en) | 2017-10-17 |
| CN107217718B (en) | 2018-03-23 |
| CN106836426A (en) | 2017-06-13 |
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