CN107392906A - A kind of cleaning glass method based on multiple IMAQ and manipulator - Google Patents
A kind of cleaning glass method based on multiple IMAQ and manipulator Download PDFInfo
- Publication number
- CN107392906A CN107392906A CN201710678575.2A CN201710678575A CN107392906A CN 107392906 A CN107392906 A CN 107392906A CN 201710678575 A CN201710678575 A CN 201710678575A CN 107392906 A CN107392906 A CN 107392906A
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- Prior art keywords
- glass
- target glass
- cleaning
- manipulator
- shading
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0008—Industrial image inspection checking presence/absence
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
Abstract
The invention discloses a kind of cleaning glass method based on multiple IMAQ and manipulator, methods described includes：Gather the present image R under target glass printing opacity1；To R1Carry out gray proces and obtain the first image T1, count T1Middle gray value is more than the first gray value A1Region area summation Q1；Shading is carried out to target glass；Gather the present image R under target glass shading2；To R2Carry out gray proces and obtain the second image T2, count T2Middle gray value is more than the second gray value A2Region area summation Q2；By Q1With Q2And Q3Compared with preset area value, target glass is cleared up by cleaning machine hand according to comparative result.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of clearing glass based on multiple IMAQ and manipulator
Clean method.
Background technology
With the development in epoch, population increases on the earth, and urban skyscraper the more is built the more high, and the multilayer that people live occupies
People building is also gradually substituted by high-rise residential building, and the window-glass cleaning of these high-rise residential buildings turns into one and perplexs the big of resident family
Problem, window is that most of the most important light source of life staying idle at home, window-glass is the Transparent color not born dirty, so once having
Dust is kicked up, and after snowing, window-glass is easy for being dirty, and the cleaning of traditional window is to enter in a manual manner
Capable, manually cleaned in the air with lifting rope, expense is extremely expensive, and efficiency is low, and security is poor, and resident family is autonomous clear
The clean unusual trouble that seems, the inner surface of window-glass can only be cleaned.
The content of the invention
Based on technical problem existing for background technology, the present invention proposes a kind of based on multiple IMAQ and manipulator
Cleaning glass method；
A kind of cleaning glass method based on multiple IMAQ and manipulator proposed by the present invention, including：
Present image R under S1, collection target glass printing opacity1；
S2, to R1Carry out gray proces and obtain the first image T1, count T1Middle gray value is more than the first gray value A1Region
Area summation Q1；
S3, shading is carried out to target glass；
Present image R under S4, collection target glass shading2；
S5, to R2Carry out gray proces and obtain the second image T2, count T2Middle gray value is more than the second gray value A2Region
Area summation Q2；
S6, by Q1With Q2And Q3Compared with preset area value, according to comparative result by cleaning machine hand to target
Glass is cleared up.
Preferably, step S6, specifically include：The preset area value includes the first area value W1, second area value W2, the
Three area value W3；
Calculate Q1With Q2And Q3=Q1+Q2, by Q3Compared with preset area value,
Work as W1＜ Q3＜ W2When, control module instruction control cleaning machine hand cleans t to target glass1Time；
Work as W2＜ Q3＜ W3When, control module instruction control cleaning machine hand cleans t to target glass2Time；
Work as Q3＞ W3When, control module instruction control cleaning machine hand cleans t to target glass3Time；
Wherein, W1、W2、W3、t1、t2、t3It is preset value, and W1＜ W2＜ W3, t1＜ t2＜ t3。
Preferably, step S6, target glass is cleared up by cleaning machine hand, specifically included：Pass through cleaning machine
Hand cleans according to preset path to target glass.
Preferably, step S3, specifically include：Shading is carried out to target glass by roller shutter.
Preferably, step S1, specifically include：The present image under target glass printing opacity is gathered by multiple high-definition cameras
R1；
Preferably, step S4, specifically include：The present image under target glass shading is gathered by multiple high-definition cameras
R2。
The present invention is by gathering the present image R under target glass printing opacity1, to R1Carry out gray proces and obtain the first image
T1, count T1Middle gray value is more than the first gray value A1Region area summation Q1, shading is carried out to target glass, gathers mesh
Mark the present image R under glass shading2, to R2Carry out gray proces and obtain the second image T2, count T2Middle gray value is more than second
Gray value A2Region area summation Q2, by Q1With Q2And Q3Compared with preset area value, passed through according to comparative result
Cleaning machine hand is cleared up target glass.In this way, pass through the image after the image information of glass during comprehensive printing opacity and shading
Information, it is dirty can accurately to judge whether glass occurs, and carry out the cleaning of different durations to glass according to dirty area, this
Sample can both ensure the cleaning of glass in real time, allow the glass moment in man of resident family to keep cleaning, while save and pass through professional
The cost of cleaning, it also avoid danger when professional cleans glass.
Brief description of the drawings
Fig. 1 is that a kind of flow of cleaning glass method based on multiple IMAQ and manipulator proposed by the present invention is illustrated
Figure.
Embodiment
Reference picture 1, a kind of cleaning glass method based on multiple IMAQ and manipulator proposed by the present invention, including：
Step S1, gather the present image R under target glass printing opacity1, step S1, specifically include：Taken the photograph by multiple high definitions
As head gathers the present image R under target glass printing opacity1。
In concrete scheme, the present image under target glass printing opacity is gathered using multiple high-definition cameras, is prevented single
Camera collection image is not comprehensive.
Step S2, to R1Carry out gray proces and obtain the first image T1, count T1Middle gray value is more than the first gray value A1's
The area summation Q in region1；
In concrete scheme, the purpose that gray proces are carried out to the present image under target glass printing opacity is in order to facilitate area
Divide dirty region and clean region, it is dirty so as to conveniently judge whether target glass occurs.
Step S3, shading is carried out to target glass, specifically included：Shading is carried out to target glass by roller shutter.
Step S4, gather the present image R under target glass shading2, specifically include：Gathered by multiple high-definition cameras
Present image R under target glass shading2。
In concrete scheme, the present image under target glass shading is gathered using multiple high-definition cameras, is prevented single
Camera collection image is not comprehensive.
Step S5, to R2Carry out gray proces and obtain the second image T2, count T2Middle gray value is more than the second gray value A2's
The area summation Q in region2；
In concrete scheme, the purpose that gray proces are carried out to the present image under target glass shading is in order to facilitate area
Divide dirty region and clean region, it is dirty so as to conveniently judge whether target glass occurs.
Step S6, by Q1With Q2And Q3Compared with preset area value, cleaning machine hand pair is passed through according to comparative result
Target glass is cleared up, and is specifically included：The preset area value includes the first area value W1, second area value W2, the 3rd area
Value W3；
Calculate Q1With Q2And Q3=Q1+Q2, by Q3Compared with preset area value,
Work as W1＜ Q3＜ W2When, control module instruction control cleaning machine hand cleans t to target glass1Time；
Work as W2＜ Q3＜ W3When, control module instruction control cleaning machine hand cleans t to target glass2Time；
Work as Q3＞ W3When, control module instruction control cleaning machine hand cleans t to target glass3Time；
Wherein, W1、W2、W3、t1、t2、t3It is preset value, and W1＜ W2＜ W3, t1＜ t2＜ t3。
In this step, target glass is cleared up by cleaning machine hand, specifically included：By cleaning machine hand according to
Preset path cleans to target glass.
In concrete scheme, easily recognized when printing opacity because some are dirty, some are dirty to hold when shading
Easily identification, the present image under the present image and target glass shading under target glass printing opacity is then gathered, to two images
After carrying out gray proces, Gray value comparative result and area value comparative result, it is dirty to judge whether target glass occurs,
Judged result is when being, different degrees of cleaning is carried out to target glass by manipulator, so can both ensure glass in real time
Cleaning, allow the glass moment in man of resident family to keep cleaning, while save the cost cleaned by professional.
Present embodiment is by gathering the present image R under target glass printing opacity1, to R1Carry out gray proces and obtain first
Image T1, count T1Middle gray value is more than the first gray value A1Region area summation Q1, shading is carried out to target glass, adopted
Collect the present image R under target glass shading2, to R2Carry out gray proces and obtain the second image T2, count T2Middle gray value is more than
Second gray value A2Region area summation Q2, by Q1With Q2And Q3Compared with preset area value, according to comparative result
Target glass is cleared up by cleaning machine hand.In this way, after by the image information of glass during comprehensive printing opacity and shading
Image information, it is dirty can accurately to judge whether glass occurs, and the clear of different durations is carried out to glass according to dirty area
It is clean, the cleaning of glass so can be both ensured in real time, allow the glass moment in man of resident family to keep cleaning, while save and pass through specialty
The cost of personnel's cleaning, it also avoid danger when professional cleans glass.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (5)
- A kind of 1. cleaning glass method based on multiple IMAQ and manipulator, it is characterised in that including：Present image R under S1, collection target glass printing opacity1；S2, to R1Carry out gray proces and obtain the first image T1, count T1Middle gray value is more than the first gray value A1Region face Product summation Q1；S3, shading is carried out to target glass；Present image R under S4, collection target glass shading2；S5, to R2Carry out gray proces and obtain the second image T2, count T2Middle gray value is more than the second gray value A2Region face Product summation Q2；S6, by Q1With Q2And Q3Compared with preset area value, according to comparative result by cleaning machine hand to target glass Cleared up.
- 2. the cleaning glass method according to claim 1 based on multiple IMAQ and manipulator, it is characterised in that step Rapid S6, is specifically included：The preset area value includes the first area value W1, second area value W2, the 3rd area value W3；Calculate Q1With Q2And Q3=Q1+Q2, by Q3Compared with preset area value,Work as W1＜ Q3＜ W2When, control module instruction control cleaning machine hand cleans t to target glass1Time；Work as W2＜ Q3＜ W3When, control module instruction control cleaning machine hand cleans t to target glass2Time；Work as Q3＞ W3When, control module instruction control cleaning machine hand cleans t to target glass3Time；Wherein, W1、W2、W3、t1、t2、t3It is preset value, and W1＜ W2＜ W3, t1＜ t2＜ t3。
- 3. the cleaning glass method according to claim 1 based on multiple IMAQ and manipulator, it is characterised in that step Rapid S6, target glass is cleared up by cleaning machine hand, specifically included：By cleaning machine hand according to preset path to mesh Mark glass is cleaned.
- 4. the cleaning glass method according to claim 1 based on multiple IMAQ and manipulator, it is characterised in that step Rapid S3, is specifically included：Shading is carried out to target glass by roller shutter.
- 5. the cleaning glass method according to claim 1 based on multiple IMAQ and manipulator, it is characterised in that step Rapid S1, is specifically included：The present image R under target glass printing opacity is gathered by multiple high-definition cameras1；Preferably, step S4, specifically include：The present image R under target glass shading is gathered by multiple high-definition cameras2。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710678575.2A CN107392906B (en) | 2017-08-10 | 2017-08-10 | Glass cleaning method based on multiple image acquisition and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710678575.2A CN107392906B (en) | 2017-08-10 | 2017-08-10 | Glass cleaning method based on multiple image acquisition and mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107392906A true CN107392906A (en) | 2017-11-24 |
| CN107392906B CN107392906B (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710678575.2A Active CN107392906B (en) | 2017-08-10 | 2017-08-10 | Glass cleaning method based on multiple image acquisition and mechanical arm |
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Cited By (9)
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| CN107928501A (en) * | 2017-12-11 | 2018-04-20 | 黄锋平 | A kind of shower bath |
| CN108042032A (en) * | 2017-12-11 | 2018-05-18 | 邓鹏� | A kind of Intelligent shower device of combination shower person exercise data |
| CN108056691A (en) * | 2017-12-11 | 2018-05-22 | 邓鹏� | A kind of shower bath based on big data |
| CN108065839A (en) * | 2017-12-11 | 2018-05-25 | 黄锋平 | A kind of Intelligent shower device based on image |
| CN108301729A (en) * | 2018-02-07 | 2018-07-20 | 曾洁 | Automatic-cleaning type Intelligent home device |
| CN109138732A (en) * | 2018-02-07 | 2019-01-04 | 曾洁 | Intelligent home device automatic cleaning method |
| CN110251004A (en) * | 2019-07-16 | 2019-09-20 | 深圳市杉川机器人有限公司 | Sweeping robot and its cleaning method and computer readable storage medium |
| CN111795329A (en) * | 2020-07-15 | 2020-10-20 | 扬州市润熙照明科技有限公司 | Lamp post device of clean street lamp convenient to dismantle |
| CN113620614A (en) * | 2021-07-27 | 2021-11-09 | 深圳市若菲特科技有限公司 | Method, device and equipment for removing ink on glass surface and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107928501A (en) * | 2017-12-11 | 2018-04-20 | 黄锋平 | A kind of shower bath |
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| CN111795329A (en) * | 2020-07-15 | 2020-10-20 | 扬州市润熙照明科技有限公司 | Lamp post device of clean street lamp convenient to dismantle |
| CN113620614A (en) * | 2021-07-27 | 2021-11-09 | 深圳市若菲特科技有限公司 | Method, device and equipment for removing ink on glass surface and storage medium |
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|---|---|
| CN107392906B (en) | 2020-09-25 |
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