CN107782674A - The method that robot detects and cleaned It up - Google Patents
The method that robot detects and cleaned It up Download PDFInfo
- Publication number
- CN107782674A CN107782674A CN201710992835.3A CN201710992835A CN107782674A CN 107782674 A CN107782674 A CN 107782674A CN 201710992835 A CN201710992835 A CN 201710992835A CN 107782674 A CN107782674 A CN 107782674A
- Authority
- CN
- China
- Prior art keywords
- color data
- pet
- excrement
- data
- gathered
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 210000003608 fece Anatomy 0.000 claims abstract description 108
- 238000004140 cleaning Methods 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000007711 solidification Methods 0.000 claims abstract description 9
- 230000008023 solidification Effects 0.000 claims abstract description 9
- 230000005855 radiation Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 6
- 238000005507 spraying Methods 0.000 abstract description 3
- 230000035943 smell Effects 0.000 description 14
- 241000282326 Felis catus Species 0.000 description 6
- 241000283973 Oryctolagus cuniculus Species 0.000 description 6
- 238000010835 comparative analysis Methods 0.000 description 6
- 210000000436 anus Anatomy 0.000 description 5
- 239000003086 colorant Substances 0.000 description 5
- 239000007789 gas Substances 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 238000010408 sweeping Methods 0.000 description 5
- 230000002550 fecal effect Effects 0.000 description 4
- 239000010871 livestock manure Substances 0.000 description 4
- 240000005595 Echinocereus dasyacanthus Species 0.000 description 2
- 235000008314 Echinocereus dasyacanthus Nutrition 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000015271 coagulation Effects 0.000 description 2
- 238000005345 coagulation Methods 0.000 description 2
- 230000013872 defecation Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003472 neutralizing effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 238000012935 Averaging Methods 0.000 description 1
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- 101001093100 Drosophila melanogaster Scaffold protein salvador Proteins 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- LSDPWZHWYPCBBB-UHFFFAOYSA-N Methanethiol Chemical compound SC LSDPWZHWYPCBBB-UHFFFAOYSA-N 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- 150000002475 indoles Chemical class 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- ZFRKQXVRDFCRJG-UHFFFAOYSA-N skatole Natural products C1=CC=C2C(C)=CNC2=C1 ZFRKQXVRDFCRJG-UHFFFAOYSA-N 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
- G01J5/0025—Living bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method, e.g. intermittent, or the display, e.g. digital
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
- G01N33/483—Physical analysis of biological material
Abstract
The present invention relates to a kind of detection of robot and the method to clean It up, robot is during cleaning, by the color data for gathering objects in front, the reference color data of pet dung with being prestored in robot are contrasted, and determine whether the object is pet dung according to comparing result.This detection method by color contrast, it can accurately detect whether the object on ground is pet dung.In addition, after it is determined that being pet dung, again by spraying quick-frozen dose to pet dung solidify excrement, it is easy to robot that the excrement of solidification directly is sucked into rubbish chamber, pollution in wide area caused by when avoiding the existing robot from drawing wet glutinous excrement, the effect that robot cleans It up is ensure that, while improves the practicality of robot, meets the health cleaning demand for supporting the family for having pet.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of robot detection and the method to clean It up.
Background technology
With the horizontal raising of Intelligent life, increasing family starts using Intelligent robot for sweeping floor with cleaning family
The health of plate.But some support the family for having pet, these pets void excreta everywhere sometimes, and Intelligent robot for sweeping floor
Excrement can not be recognized again, so, swept directly from excrement it can be gone in cleaning process.Because excrement is wetter glutinous, machine
People can not be directly sucked in rubbish intracavitary, and on the contrary during moving on, excrement band, which is obtained, is all the way so that excrement
Contaminated area is bigger, it is more difficult to clears up.
The content of the invention
To solve the above problems, the invention provides a kind of detection of robot and the method to clean It up, Ke Yizhun
Whether the object for really detecting ground is pet dung, and the pet dung to detecting effectively is cleared up.The tool of the present invention
Body technique scheme is as follows：
A kind of method of robot detection pet dung, comprises the following steps：
Based on color sensor, robot walks while gathering the current color data of objects in front；
Judge gathered current color data whether in the error range of the reference color data of the pet dung to prestore；
If it is, determine that the object is pet dung；
If it is not, then continue to walk while gathering color data.
Further, the reference color data of the pet dung to prestore, are obtained as follows：
The first pet is determined, gathers the color data for multigroup excrement that first pet is discharged in different time, will be described more
The color data of group excrement is averaged as the first reference color data；
The second pet is determined, gathers the color data for multigroup excrement that second pet is discharged in different time, will be described more
The color data of group excrement is averaged as the second reference color data；
By that analogy,
N pets are determined, gather the color data for multigroup excrement that the N pets are discharged in different time, will be described multigroup
The color data of excrement is averaged as N reference color data；
By in the database of N number of reference color data deposit robot；
Wherein, N is the natural number more than 1.
Further, the color data for multigroup excrement that the collection N pets are discharged in different time, by described in
The color data of multigroup excrement is averaged as N reference color data, is comprised the following steps：
Gather the color data for multigroup excrement that the N pets are discharged in different time；
In the color data for judging multigroup excrement, within a preset range whether the difference between each group color data；
If it is, the average value of the color data of multigroup excrement is taken as reference color data；
If it is not, then two groups of maximum color data of difference are extracted, respectively as reference color data, then other groups are taken
The average value of color data is as reference color data.
Further, the mistake of reference color data of the gathered current color data in the pet dung to prestore is being judged
After the step of in poor scope, also comprise the following steps：
Based on infrared radiation thermometer, the Current Temperatures of the object are gathered；
Judge whether gathered Current Temperatures are less than or equal to the reference temperature of the pet dung to prestore, more than environment temperature；
If it is, determine that the object is pet dung；
If it is not, then continue to walk while gathering color data.
Further, the reference temperature of the pet dung to prestore, is obtained as follows：
The first pet is determined, the rectal temperature of first pet of multigroup different time is gathered, takes rectal temperature highest value
As preselected reference temperature；
The second pet is determined, the rectal temperature of second pet of multigroup different time is gathered, takes rectal temperature highest value
As preselected reference temperature；
By that analogy,
N pets are determined, gather the rectal temperature of the N pets of multigroup different time, take rectal temperature highest value to make
For preselected reference temperature；
Temperature highest value is taken in the preselected reference temperature as reference temperature；
Wherein, N is the natural number more than 1.
Further, reference temperature of the gathered Current Temperatures less than or equal to the pet dung to prestore is being judged, greatly
After the step of environment temperature, also comprise the following steps：
Based on smell sensor, the current odor data of the object is gathered；
Whether the current odor data for judging to be gathered is in the error range of the reference odor data of the pet dung to prestore；
If it is, determine that the object is pet dung；
If it is not, then continue to walk while gathering color data.
Further, the mistake of reference color data of the gathered current color data in the pet dung to prestore is being judged
After the step of in poor scope, also comprise the following steps：
Based on smell sensor, the current odor data of the object is gathered；
Whether the current odor data for judging to be gathered is in the error range of the reference odor data of the pet dung to prestore；
If it is, determine that the object is pet dung；
If it is not, then continue to walk while gathering color data.
Further, the reference odor data of the pet dung to prestore, is obtained as follows：
The first pet is determined, the odor data of the excrement of first pet of multigroup different time is gathered, takes odor data
Average value is used as and refers to odor data；
The second pet is determined, the odor data of the excrement of second pet of multigroup different time is gathered, takes odor data
Average value is used as and refers to odor data；
By that analogy,
N pets are determined, gather the odor data of the excrement of the N pets of multigroup different time, take the flat of odor data
Average is used as and refers to odor data；
Wherein, N is the natural number more than 1.
A kind of method that robot cleans It up, comprises the following steps：
Based on the method for above-mentioned robot detection pet dung, it is determined that the object detected is pet dung；
Stop walking, start quick-frozen dose of device, quick-frozen dose is sprayed to the pet dung；
The pet dung of solidification is sucked into rubbish chamber.
Further, after the step of pet dung by solidification sucks rubbish chamber, comprise the following steps：
Quick-frozen dose is sprayed to the position where the pet dung again；
The position is then based on, stops after pre-determined distance of walking forward, stops after twice of the pre-determined distance of then drawing back, then
Walk forward and stop after twice of pre-determined distance, pre-determined distance of finally drawing back again stops；
After being parked in the position cleaning preset time, the cleaning to pet dung is completed.
The beneficial effects of the present invention are：Robot is during cleaning, by gathering the color data of objects in front,
The reference color data of pet dung with being prestored in robot are contrasted, and the object are determined according to comparing result whether
For pet dung.This detection method by color contrast, it can accurately detect whether the object on ground is Pet manure
Just.In addition, it is determined that be pet dung and then by spraying quick-frozen dose to pet dung solidify excrement, it is easy to machine
The excrement of solidification is directly sucked rubbish chamber by people, and large area caused by when avoiding the existing robot from drawing wet glutinous excrement is dirty
Dye, ensure that the effect that robot cleans It up, while improve the practicality of robot, meet to support the family for having pet
Health cleaning demand.
Brief description of the drawings
Fig. 1 is the flow chart one for the method that robot of the present invention detects pet dung.
Fig. 2 is the flowchart 2 for the method that robot of the present invention detects pet dung.
Fig. 3 is the flow chart 3 for the method that robot of the present invention detects pet dung.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings：
Robot of the present invention refers mainly to sweeping robot, also known as clean robot, sweep machine, intellective dust collector automatically
Deng, be controlling intelligent household appliances one kind, certain artificial intelligence can be relied on, automatically in room complete floor cleaning work.One
As swept using brush and vacuum mode, ground debris is first received into the rubbish chamber into itself, so as to complete the function of land clearing.
In general, by complete sweep the floor, dust suction, wipe etc. work robot, be also uniformly classified as sweeping robot.Sweeping robot
Body is radio equipment, based on collar plate shape.Operated using rechargeable battery, mode of operation is the operating surface on remote control or machine
Plate.Typically the reservation of energy setting time is swept, and is voluntarily charged.Body is provided with various sensors, can detect travel distance, walking angle
Degree, fuselage state and barrier etc., such as encounter wall or other barriers, can voluntarily turn, and according to different settings, and walk not
Same route, clean area with having planning.Robot of the present invention includes following structure：With driving wheel being capable of autonomous row
The machine human organism walked, body are provided with human-computer interaction interface, and body is provided with obstacle detection unit, color sensor, infrared
Temperature measurer and/or smell sensor, organism bottom are provided with main brush（Middle brush can also be）Brushed with side.Internal body is provided with quick-frozen
Agent device and inertial sensor, the inertial sensor include accelerometer and gyroscope etc., and driving wheel, which is provided with, to be used to detect
The odometer of the travel distance of driving wheel（Usually code-disc）, the parameter that can handle related sensor is additionally provided with, and can be defeated
Go out control signal to the control module of execution unit.
As shown in figure 1, the method for robot detection pet dung of the present invention, comprises the following steps：Based on color
Sensor, robot walk while gathering the current color data of objects in front；Judge gathered current color data
Whether in the error range of the reference color data of the pet dung to prestore；If it is, determine that the object is Pet manure
Just；If it is not, then continue to walk while gathering color data.Wherein, the color data is adopted by color sensor
The RGB parameters for collecting color obtain, such as, corresponding to black RGB parameters are（0,0,0）, white corresponding to RGB parameters be
（255,255,255）, red corresponding to RGB parameters be（255,0,0）, green corresponding to RGB parameters be（0,255,0）, blueness
Corresponding RGB parameters are（0,0,255）, the parameter of other a variety of colors is changed between 0 to 255.It is described
The error range of reference color data can carry out relative set according to different requirements, it is preferred that may be configured as reference color
In the range of ± the 10% of data, for example reference color data are Dark grey（105,105,105）, due to（105-（105*10%））
=94.5,（105+（105*10%））=115.5, then RGB parameters exist（94.5,94.5,94.5）Extremely（115.5,115.5,115.5）
Between color data, the equal error ranges in reference color data.Method of the present invention, by robot in cleaning
During, the color data of objects in front is gathered, the reference color data of the pet dung with being prestored in robot are contrasted,
Determine whether the object is pet dung according to comparing result.This detection method by color contrast, can be accurate
Detect whether the object on ground is pet dung, solve the problems, such as that existing robot can not effectively identify pet dung.
Preferably, the reference color data of the pet dung to prestore, are obtained as follows：Determine that first dotes on
Thing, the color data for multigroup excrement that first pet is discharged in different time is gathered, by the number of colours of multigroup excrement
According to averaging as the first reference color data；The second pet is determined, gathers what second pet was discharged in different time
The color data of multigroup excrement, the color data of multigroup excrement is averaged as the second reference color data；With this
Analogize, determine N pets, gather the color data for multigroup excrement that the N pets are discharged in different time, will be described multigroup
The color data of excrement is averaged as N reference color data；By the number of N number of reference color data deposit robot
According in storehouse.Wherein, N is the natural number more than 1.Wherein, the different time can accordingly be selected according to different requirements, excellent
Choosing, the morning in one day can be selected, neutralize three period collections of evening, continuous acquisition one week.N value can also be according to not sympathizing with
Condition is set, if aforesaid operations are carried out by producer of robot, N values are bigger, and the application of robot is more comprehensive, if above-mentioned
Operation is carried out by robotic user control machine people, then N values are set smaller than 5, because the pet of single family is general
Will not be too many, reference data can be reduced by reducing N values, and the comparative analysis of subsequent robot can be more targeted, comparative analysis effect
Rate can be higher.
By the pet that different families is supported is different, the foster dog having, some keeps a cat, foster rabbit having etc., some families
Front yard, which is also supported, a variety of pets, and excrement caused by different pets is also different, it is therefore desirable to gather it for a variety of pets
The color of excrement is as reference color data.The pet breeds of collection are more, and reference color data are more comprehensive, and follow-up contrast is sentenced
It is disconnected more accurate.For example determine that chihuahua dog is the first pet, the stool colour data of collection chihuahua dog discharge in first day, such as
Multiple excrement is arranged in fruit one day, then stool colour data that are early, neutralizing late three periods is taken, if the defecation of one day is less than three
It is secondary, then all collections.Such continuous acquisition time of one week, the average value of the color data of the excrement of all collections is then taken,
Using average value as the first reference color data.Likewise, determine that safe enlightening dog as the second pet, gathers safe enlightening in a manner described
The color data of the excrement of dog, average as the second reference color data.By that analogy, it is normal that cat and rabbit etc. are gathered respectively
See the color data of the excrement of pet, average as reference color data.All reference color data are finally stored in machine
In the database of device people, during subsequent contrast, robot by the current color data collected respectively with the first ginseng in database
Examine color data, the second reference color data to N reference color data are contrasted, if current color data are any one
In the error range of individual reference color data, it is determined that the object corresponding to current color data is pet dung, is otherwise determined
Object corresponding to current color data is not pet dung.Above-mentioned reference color data can be that producer of robot prepares in advance
Good or subsequent robot user obtains according to pet situation oneself the control machine people of family.
Preferably, the color data for multigroup excrement that the collection N pets are discharged in different time, will be described more
The color data of group excrement is averaged as N reference color data, is comprised the following steps：The N pets are gathered not
With the color data of multigroup excrement of time discharge；In the color data for judging multigroup excrement, between each group color data
Difference whether within a preset range；If it is, the average value of the color data of multigroup excrement is taken as reference color
Data；If it is not, then two groups of maximum color data of difference are extracted, respectively as reference color data, then take other
The average value of group color data is as reference color data.Wherein, the preset range can also carry out phase according to product requirement
It should set, it is preferred that the single amount that could be arranged in RGB parameters differs by more than 50, that is, thinks not within a preset range, such as
RGB（255,255,255）And RGB（255,255,200）In, the 3rd amount difference 55, then the difference of the two color data is not
Within a preset range, and for example, RGB（230,220,210）And RGB（200,215,230）In, the difference of three amounts is all small respectively
50, then the difference of the two color data is within a preset range.
When the food difference eaten by pet is too big, the stool colour difference of discharge also can be bigger, if all pressed
The mode of average value chooses reference color data, and the excrement of part colours during comparative analysis can be caused not cover, and produces inspection
The problem of surveying result mistake.So, it is necessary to judge each group collected after the excrement of pet is collected by above-mentioned embodiment
The color data of excrement whether there is very big difference, if difference is more than preset range, need two groups of maximum face of difference
Chromatic number, will also be other in addition to two groups of maximum color data of difference respectively as reference color data according to extracting
The average value of group color data is as reference color data, in this way, just having three for the stool colour of the pet and referring to face
Chromatic number evidence, the reference data of comparative analysis more comprehensively, further reduce the risk of testing result erroneous judgement.If each group number of colours
According to difference be both less than preset range, then each group color relatively, sets the effect unobvious of too many reference color data, instead
And can be because setting too many reference color data, and the data-handling efficiency of robot is reduced, so, average as reference
Color data is optimal selection.
Preferably, as shown in Fig. 2 judging reference color of the gathered current color data in the pet dung to prestore
After step in the error range of data, also comprise the following steps：Based on infrared radiation thermometer, the current temperature of the object is gathered
Degree；Judge whether gathered Current Temperatures are less than or equal to the reference temperature of the pet dung to prestore, more than environment temperature；Such as
Fruit is, it is determined that the object is pet dung；If it is not, then continue to walk while gathering color data.Due to merely
Ground determines whether pet dung by color, that some are judged by accident can be present, for example some are close with pet dung color
Other rubbish, pet dung can be erroneously interpreted as, but this erroneous judgement does not interfere with robot to the overall clear of pet dung
Reason, can simply waste some time and materials to clear up the rubbish of these doubtful pet dungs.So in order to further improve machine
Identification accuracy of the device people to pet dung, method of the present invention is by infrared radiation thermometer to these colors and pet dung
The approximate object of color makees further temperature detection, this by way of color detection combination temperature detects, and can enter one
Step improves the accuracy of detection.Because the temperature for the excrement that pet has just been discharged is above environment temperature, even across it is longer when
Between, finally also simply gradually it is intended to close to environment temperature, so, in the color and the face of pet dung that object is determined
After color approximation, if detecting that the temperature of the object is less than or equal to the reference temperature of the pet dung to prestore, more than environment
Temperature, it is determined that the object is pet dung, otherwise, it determines the object is not pet dung.
Preferably, the reference temperature of the pet dung to prestore, is obtained as follows：The first pet is determined, is adopted
Collect the rectal temperature of first pet of multigroup different time, take rectal temperature highest value as preselected reference temperature；Really
Fixed second pet, the rectal temperature of second pet of multigroup different time is gathered, take rectal temperature highest value as pre-
Select reference temperature；By that analogy, N pets are determined, the rectal temperature of the N pets of multigroup different time is gathered, takes anus
Door temperature highest value is as preselected reference temperature；Temperature highest value is taken in the preselected reference temperature as reference temperature.
Wherein, N is the natural number more than 1, and N value can also be set according to different situations, and N values are bigger, and reference data is more, selection
Reference temperature is more accurate, and the application of robot is more comprehensive.The different time can accordingly be selected according to different requirements
Select, it is preferred that the morning in one day can be selected, neutralize three period collections of evening, continuous acquisition one week.
Because the rectal temperature of different pets is different, and the temperature for the excrement that pet has just been discharged is close to anus temperature
Degree, so, the temperature of the excrement of different pet discharges is different., it is necessary to gather different pets when choosing reference temperature
Rectal temperature.Such as determine sharpei as the first pet, morning at first day, in and late three periods gather sand respectively
The rectal temperature of skin dog, continuous acquisition one week, then selects temperature highest conduct in the rectal temperature of all collections according to this
One preselected reference temperature.Likewise, shepherd dog is determined as the second pet, by the anus temperature of collection of above-mentioned time shepherd dog
Degree, temperature value highest is chosen as a preselected reference temperature.By that analogy, the pets such as various cats, rabbit are determined respectively
Preselected reference temperature.Finally, choose in all preselected reference temperature, temperature value highest is as reference temperature.Doted on due to common
Thing is all warm-blooded animal, and its body temperature difference is not too large, and rectal temperature will not also differ too big, so, as long as anus is determined
Maximum temperature after, it is possible to comprehensively cover very much the excrement temperature of most pets, it is not necessary to by the anus of every kind of pet
Temperature is all used as reference temperature, in this way, can be while robot calculation resources are reduced, moreover it is possible to ensures higher accuracy.
Preferably, as shown in figure 3, judging reference of the gathered Current Temperatures less than or equal to the pet dung to prestore
Temperature, after the step of environment temperature, also comprise the following steps：Based on smell sensor, the current of the object is gathered
Odor data；Judge the current odor data that is gathered whether the pet dung to prestore reference odor data error range
It is interior；If it is, determine that the object is pet dung；If it is not, then continue to walk while gathering color data.Pass through
The detection mode that above-mentioned color is combined with temperature, it is already possible to the which whether object for judging current detection very accurately is Pet manure
Just, still, method of the present invention, in order to further improve accuracy, on the basis of color is combined with temperature, then
Increase the judgement of smell.Because certain smell all be present in the excrement of pet, and the other rubbish of in general be no smell or
Smell very little, it is therefore desirable to first gather and the smell for the various pet dungs that prestore is into robot data storehouse, as reference gas
Taste data, then by judge the current odor data that is gathered whether the pet dung to prestore reference odor data mistake
In poor scope, to determine whether current object is pet dung.Wherein, the odor data of the excrement is waved by detecting excrement
The amount of the material such as contained indoles, scatol, mercaptan and hydrogen sulfide in the gas of hair.The error range can be wanted according to specific
Seek carry out relative set, it is preferred that ± 15% is may be configured as, because the gas content of the volatilization of pet dung is not very high, so
Error range is unsuitable too small, too small to easily cause missing inspection, also unsuitable excessive, excessive to be readily incorporated other smells and cause to judge by accident.
Preferably, the error of reference color data of the gathered current color data in the pet dung to prestore is being judged
In the range of the step of after, also comprise the following steps：Based on smell sensor, the current odor data of the object is gathered；Sentence
Whether the disconnected current odor data gathered is in the error range of the reference odor data of the pet dung to prestore；If it is,
It is pet dung then to determine the object；If it is not, then continue to walk while gathering color data.The method of the invention
Another embodiment, be on the basis of color detection, in order to further improve the accuracy of detection, add odor detection
And judgement, odor detection and the principle judged are identical with above-mentioned embodiment, will not be repeated here.
Preferably, the reference odor data of the pet dung to prestore described in above-mentioned embodiment, as follows
Obtain：The first pet is determined, the odor data of the excrement of first pet of multigroup different time is gathered, takes odor data
Average value is used as and refers to odor data；The second pet is determined, gathers the gas of the excrement of second pet of multigroup different time
Taste data, take the average value of odor data to be used as and refer to odor data；By that analogy, N pets are determined, when collection is multigroup different
Between the N pets excrement odor data, take the average value of odor data as referring to odor data.Wherein, N is big
In 1 natural number, N value can also be set according to different situations, if aforesaid operations are carried out by producer of robot, N values are got over
Greatly, reference data is more, and the reference odor data of selection is more accurate, and the application of robot is more comprehensive；If aforesaid operations
It is to be carried out by robotic user control machine people, then N values are set smaller than 5, because the pet of single family typically will not
Too much, reference data can be reduced by reducing N values, and the comparative analysis of subsequent robot can more targeted, comparative analysis efficiency meeting
It is higher.The different time can accordingly be selected according to different requirements, it is preferred that can gather the excrement of discharge every day
Smell, continuous acquisition one week.
By the pet that different families is supported is different, the foster dog having, some keeps a cat, foster rabbit having etc., some families
Front yard, which is also supported, a variety of pets, and the smell of excrement caused by different pets is also different, it is therefore desirable to be directed to a variety of pets
The smell of its excrement is gathered as referring to odor data.The pet breeds of collection are more, more comprehensive with reference to odor data, follow-up
It is more accurate that contrast judges.For example determine that Persian cat is the first pet, the Fecal odor data of collection Persian cat discharge in first day,
If multiple excrement is arranged in one day, Fecal odor data that are early, neutralizing late three periods are taken, if the defecation of one day is less than three
It is secondary, then all collections.Such continuous acquisition time of one week, the average value of the odor data of the excrement of all collections is then taken,
Using average value as referring to odor data.Likewise, determine that Garfield as the second pet, gathers Garfield in a manner described
The odor data of excrement, average and refer to odor data as second.By that analogy, dog and rabbit etc. are common dotes on for collection respectively
The odor data of the excrement of thing, averages as with reference to odor data.Finally by all with reference to odor data deposit robot
Database in, during subsequent contrast, robot by the current odor data collected respectively with the first reference gas in database
Taste data, second are contrasted with reference to odor data to N with reference to odor data, if current odor data is joined at any one
Examine in the error range of odor data, it is determined that the object corresponding to current odor data is pet dung, is otherwise determined current
Object corresponding to odor data is not pet dung.Above-mentioned reference odor data can be that producer of robot prepares in advance,
Can also be that subsequent robot user obtains according to pet situation oneself the control machine people of family.
The method that robot of the present invention cleans It up, comprises the following steps：Examined based on above-mentioned robot
The method for surveying pet dung, it is determined that the object detected is pet dung；Stop walking, start quick-frozen dose of device, dote on described
Thing excrement sprays quick-frozen dose；The pet dung of solidification is sucked into rubbish chamber.Because robot is to walk cleaning while detecting
, so, it is necessary to stop moving on after detecting that objects in front is pet dung, it otherwise will directly clear up Pet manure
Just, so as to causing large area fecal pollution.After stopping walking, robot starts quick-frozen dose of device, by quick-frozen dose of injection to pet
On excrement, the pet dung of solidification is sucked rubbish chamber after pet dung cryocoagulation, then by suction port.Due to excrement
Through coagulation forming, so when excrement is drawn, will not pollute to be everywhere, and cleaning effect is fine, avoid existing machine
Pollution in wide area caused by when device people draws wet glutinous excrement, ensure that the effect that robot cleans It up, improves simultaneously
The practicality of robot, meet the health cleaning demand for supporting the family for having pet.Spraying quick-frozen dose of time can be according to not
Same situation carries out relative set, in order to ensure the coagulation result of pet dung, can set longer injecting time, for example spray
Penetrate 20 seconds；It can also be set according to excrement type, for example the excrement of shepherd dog is bigger, it is necessary to longer quick-frozen time, can be with
Injection 18 seconds, and the excrement of rabbit is smaller, it is only necessary to the shorter quick-frozen time, it can spray 5 seconds.
Preferably, after the step of pet dung by solidification sucks rubbish chamber, comprise the following steps：It is right again
Spray quick-frozen dose in position where the pet dung；The position is then based on, is stopped after pre-determined distance of walking forward, then
Draw back and stop after twice of pre-determined distance, stop after twice of the pre-determined distance of walking further along, finally draw back again it is default away from
From stopping；After being parked in the position cleaning preset time, the cleaning to pet dung is completed.Wherein, above-mentioned pre-determined distance can be with
Relative set is carried out according to actual requirement, it is preferred that the present embodiment is arranged to 5 centimetres, to ensure covering sweep-out pattern comprehensively.Together
When, above-mentioned preset time can also relative set as the case may be, it is preferred that the present embodiment is arranged to 3 seconds to 10 seconds.Due to
Quick-frozen dose can only be by excrement outer surface setting and hardening, and after excrement is inhaled into rubbish chamber, the position that ground contacts with excrement can also
Some wet glutinous excrement are remained, now, if robot directly cleans, will also result in the fecal pollution of small area.So this hair
Bright described method, first sprays quick-frozen dose to the excrement of residual, after making the excrement whole setting and hardening of residual, then to its progress
Clean.Again because the excrement of residual compares after hardened ground and is difficult to clean, it is therefore desirable to carry out emphasis cleaning to it.Emphasis
During cleaning, front and rear on the residual position of excrement to move repeatedly cleaning, the front and rear number moved repeatedly can be wanted according to different
Seek carry out relative set, it is preferred that the present embodiment is using forward and backward, forward and backward such four numbers.Finally again in residual position
Upper fixed point cleans 5 seconds, is further ensured that excrement is cleaned out.After completing to the cleaning of pet dung, then robot continues
Carry out follow-up other cleaning works.Certainly above-mentioned emphasis, which cleans, can also use other manner, for example first fixed point cleaning is default
Time, then all around clean repeatedly etc..
Above example be only it is fully open is not intended to limit the present invention, all creation purports based on the present invention, without creating
Property work equivalence techniques feature replacement, should be considered as the application exposure scope.
Claims (10)
- A kind of 1. method of robot detection pet dung, it is characterised in that comprise the following steps：Based on color sensor, robot walks while gathering the current color data of objects in front；Judge gathered current color data whether in the error range of the reference color data of the pet dung to prestore；If it is, determine that the object is pet dung；If it is not, then continue to walk while gathering color data.
- 2. according to the method for claim 1, it is characterised in that the reference color data of the pet dung to prestore, lead to Cross following steps acquisition：The first pet is determined, gathers the color data for multigroup excrement that first pet is discharged in different time, will be described more The color data of group excrement is averaged as the first reference color data；The second pet is determined, gathers the color data for multigroup excrement that second pet is discharged in different time, will be described more The color data of group excrement is averaged as the second reference color data；By that analogy,N pets are determined, gather the color data for multigroup excrement that the N pets are discharged in different time, will be described multigroup The color data of excrement is averaged as N reference color data；By in the database of N number of reference color data deposit robot；Wherein, N is the natural number more than 1.
- 3. according to the method for claim 2, it is characterised in that what the collection N pets were discharged in different time The color data of multigroup excrement, the color data of multigroup excrement is averaged as N reference color data, including such as Lower step：Gather the color data for multigroup excrement that the N pets are discharged in different time；In the color data for judging multigroup excrement, within a preset range whether the difference between each group color data；If it is, the average value of the color data of multigroup excrement is taken as reference color data；If it is not, then two groups of maximum color data of difference are extracted, respectively as reference color data, then other groups are taken The average value of color data is as reference color data.
- 4. according to the method for claim 1, it is characterised in that dote in the current color data for judging gathered what is prestored After step in the error range of the reference color data of thing excrement, also comprise the following steps：Based on infrared radiation thermometer, the Current Temperatures of the object are gathered；Judge whether gathered Current Temperatures are less than or equal to the reference temperature of the pet dung to prestore, more than environment temperature；If it is, determine that the object is pet dung；If it is not, then continue to walk while gathering color data.
- 5. according to the method for claim 4, it is characterised in that the reference temperature of the pet dung to prestore, by such as Lower step obtains：The first pet is determined, the rectal temperature of first pet of multigroup different time is gathered, takes rectal temperature highest value As preselected reference temperature；The second pet is determined, the rectal temperature of second pet of multigroup different time is gathered, takes rectal temperature highest value As preselected reference temperature；By that analogy,N pets are determined, gather the rectal temperature of the N pets of multigroup different time, take rectal temperature highest value to make For preselected reference temperature；Temperature highest value is taken in the preselected reference temperature as reference temperature；Wherein, N is the natural number more than 1.
- 6. according to the method for claim 4, it is characterised in that prestored judging that gathered Current Temperatures are less than or equal to Pet dung reference temperature, after the step of environment temperature, also comprise the following steps：Based on smell sensor, the current odor data of the object is gathered；Whether the current odor data for judging to be gathered is in the error range of the reference odor data of the pet dung to prestore；If it is, determine that the object is pet dung；If it is not, then continue to walk while gathering color data.
- 7. according to the method for claim 1, it is characterised in that dote in the current color data for judging gathered what is prestored After step in the error range of the reference color data of thing excrement, also comprise the following steps：Based on smell sensor, the current odor data of the object is gathered；Whether the current odor data for judging to be gathered is in the error range of the reference odor data of the pet dung to prestore；If it is, determine that the object is pet dung；If it is not, then continue to walk while gathering color data.
- 8. the method according to claim 6 or 7, it is characterised in that the reference odor data of the pet dung to prestore, Obtain as follows：The first pet is determined, the odor data of the excrement of first pet of multigroup different time is gathered, takes odor data Average value is used as and refers to odor data；The second pet is determined, the odor data of the excrement of second pet of multigroup different time is gathered, takes odor data Average value is used as and refers to odor data；By that analogy,N pets are determined, gather the odor data of the excrement of the N pets of multigroup different time, take the flat of odor data Average is used as and refers to odor data；Wherein, N is the natural number more than 1.
- 9. a kind of method that robot cleans It up, it is characterised in that comprise the following steps：Based on the method for the robot detection pet dung described in any one of claim 1 to 8, it is determined that the object detected is to dote on Thing excrement；Stop walking, start quick-frozen dose of device, quick-frozen dose is sprayed to the pet dung；The pet dung of solidification is sucked into rubbish chamber.
- 10. according to the method for claim 9, it is characterised in that suck rubbish chamber in the pet dung by solidification After step, comprise the following steps：Quick-frozen dose is sprayed to the position where the pet dung again；The position is then based on, stops after pre-determined distance of walking forward, stops after twice of the pre-determined distance of then drawing back, then Walk forward and stop after twice of pre-determined distance, pre-determined distance of finally drawing back again stops；After being parked in the position cleaning preset time, the cleaning to pet dung is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710992835.3A CN107782674B (en) | 2017-10-23 | 2017-10-23 | Method for detecting and cleaning pet excrement by robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710992835.3A CN107782674B (en) | 2017-10-23 | 2017-10-23 | Method for detecting and cleaning pet excrement by robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107782674A true CN107782674A (en) | 2018-03-09 |
| CN107782674B CN107782674B (en) | 2020-06-05 |
Family
ID=61434833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710992835.3A Active CN107782674B (en) | 2017-10-23 | 2017-10-23 | Method for detecting and cleaning pet excrement by robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107782674B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108991993A (en) * | 2018-07-25 | 2018-12-14 | 上海斐讯数据通信技术有限公司 | A kind of sweeping robot identifies the method and system of excrement by gas detection technology |
| CN111492234A (en) * | 2018-11-09 | 2020-08-04 | 广东美的白色家电技术创新中心有限公司 | Movable electric device |
| WO2020177050A1 (en) * | 2019-03-04 | 2020-09-10 | 成都赛果物联网技术有限公司 | Excrement cleaning method, apparatus, and system |
| CN114747987A (en) * | 2021-01-11 | 2022-07-15 | 宁波方太厨具有限公司 | Cleaning robot mop cleanliness self-recognition system and base station |
| CN115644740A (en) * | 2022-12-29 | 2023-01-31 | 中国石油大学(华东) | Control method and system of sweeping robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574059A (en) * | 2008-05-07 | 2009-11-11 | 上海市宝山区青少年科学技术指导站 | Pet feces fast freezer |
| US20110247566A1 (en) * | 2007-01-23 | 2011-10-13 | Radio Systems Corporation | Robotic Pet Waste Treatment or Collection |
| CN103753542A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Pet feces cleaning service robot |
| CN105866118A (en) * | 2016-06-04 | 2016-08-17 | 深圳灵喵机器人技术有限公司 | System and method for detecting composition of animal excrement |
| CN106018686A (en) * | 2016-05-06 | 2016-10-12 | 深圳市元征科技股份有限公司 | Urine and excrement detection device, method and system |
-
2017
- 2017-10-23 CN CN201710992835.3A patent/CN107782674B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110247566A1 (en) * | 2007-01-23 | 2011-10-13 | Radio Systems Corporation | Robotic Pet Waste Treatment or Collection |
| CN101574059A (en) * | 2008-05-07 | 2009-11-11 | 上海市宝山区青少年科学技术指导站 | Pet feces fast freezer |
| CN103753542A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Pet feces cleaning service robot |
| CN106018686A (en) * | 2016-05-06 | 2016-10-12 | 深圳市元征科技股份有限公司 | Urine and excrement detection device, method and system |
| CN105866118A (en) * | 2016-06-04 | 2016-08-17 | 深圳灵喵机器人技术有限公司 | System and method for detecting composition of animal excrement |
Non-Patent Citations (1)
| Title |
|---|
| 王文君等: "基于RGB法的回收塑料瓶自动颜色分选系统的开发", 《仪表技术与传感器》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108991993A (en) * | 2018-07-25 | 2018-12-14 | 上海斐讯数据通信技术有限公司 | A kind of sweeping robot identifies the method and system of excrement by gas detection technology |
| CN111492234A (en) * | 2018-11-09 | 2020-08-04 | 广东美的白色家电技术创新中心有限公司 | Movable electric device |
| WO2020177050A1 (en) * | 2019-03-04 | 2020-09-10 | 成都赛果物联网技术有限公司 | Excrement cleaning method, apparatus, and system |
| CN114747987A (en) * | 2021-01-11 | 2022-07-15 | 宁波方太厨具有限公司 | Cleaning robot mop cleanliness self-recognition system and base station |
| CN115644740A (en) * | 2022-12-29 | 2023-01-31 | 中国石油大学(华东) | Control method and system of sweeping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107782674B (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107782674A (en) | The method that robot detects and cleaned It up | |
| CN107713913A (en) | Robot recognizes and the method for processing pet dung | |
| CN107580467B (en) | Home robot and method for driving the same | |
| US8973197B2 (en) | Sanitizing floor mat | |
| CN107137022A (en) | Intelligent cleaning robot system | |
| CN111568321A (en) | Method and device for detecting disinfection and cleaning operation effect of epidemic prevention disinfection and cleaning robot | |
| CN108209773A (en) | The intelligent barrier avoiding method of clean robot and clean robot | |
| CN108697293A (en) | The cleaning system of the control device of autonomous type dust catcher, the autonomous type dust catcher for having the control device and the control device for having autonomous type dust catcher | |
| CN108733061B (en) | Path correction method for cleaning operation | |
| CN109152505B (en) | System and method for cleaning a floor by means of a cleaning robot | |
| CN103120573A (en) | Working method and working system of intelligent cleaning robot | |
| CN107624656B (en) | Intelligent manure cleaning robot for pig house and control system | |
| CN107080500A (en) | Intelligent cleaning robot system, control method and its method of work | |
| CN113342000B (en) | Animal excrement identification and cleaning method and device, computer equipment and computer readable storage medium | |
| CN107624653B (en) | Intelligent combined pigsty and fecal collection system | |
| CN107348906A (en) | The system and method for floor cleaning with clean robot | |
| CN107080502A (en) | Intelligent cleaning robot system | |
| CN111608124A (en) | Autonomous navigation method for cleaning robot in high-speed service area | |
| CN107456162A (en) | Robot for cleaning floor and the control method for robot for cleaning floor | |
| JP2022510558A (en) | Movable motor | |
| JP2021013337A (en) | Cleaning system and control method of cleaning system | |
| CN112088783A (en) | Scraping and sweeping integrated pigsty manure cleaning robot | |
| CN109124473A (en) | A kind of cleaning control method and chip based on the clean robot spirally walked | |
| CN113785776B (en) | Pig house dung cleaning robot, dung cleaning method and live pig health diagnosis method | |
| CN204862994U (en) | Intelligence combination formula cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |