CN108917843A - A kind of industrial robot for environmental monitoring - Google Patents
A kind of industrial robot for environmental monitoring Download PDFInfo
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- CN108917843A CN108917843A CN201810816921.3A CN201810816921A CN108917843A CN 108917843 A CN108917843 A CN 108917843A CN 201810816921 A CN201810816921 A CN 201810816921A CN 108917843 A CN108917843 A CN 108917843A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The present invention is provided to the industrial robots of environmental monitoring, utilize central processing unit, image collecting device, radio transmitting device, display device, storage device, reading data device, crawler belt, gas-detecting device, noise detection apparatus, dust investigating, user terminal, driving device and image processing apparatus, environment under hazardous environment can be monitored, and driving device is controlled using central processing unit, to control the crawler belt of robot, to allow the robot to flexibly move when monitoring environment, environment monitoring device is set to move freely in hazardous environment, so as to more accurately know the environmental state information of monitored environment, and collected environmental state information is transmitted to user terminal using radio transmitting device, staff can know in real time environmental state information by user terminal.
Description
Technical field
The present invention relates to environmental monitoring field more particularly to a kind of industrial robots for environmental monitoring.
Background technique
With society, the development of economic level, people are environmentally safe also increasingly to be paid attention to.Some specific occasions are to ring
The requirement in border is relatively high, such as warehouse, factory etc., needs to detect whether that fire occurs, if toxic gas is exceeded etc..At this point,
The system that ambient conditions can be monitored in real time if there is one ensures that the early discovery of some security risks is early and administers, to protection
Some property personal safeties etc. are played the role of vital.
Environmental unit detection is it is desirable that be able to detect that a variety of hazardous environments, the list that equipment on the market all compares at present
One, it tends not to comprehensively carry out many-sided detection to the environment on periphery, has very big shortcoming to protection property and personal safety.
In addition, the suitable environment of many environmental detectors is single, different environment needs different detection functions, increases workload
With consuming excessively for resource.In addition, use environment monitoring sensors sense environmental parameter also have become it is highly developed at present
Technical application, and obtain the popularization of large area, it is disclosed if the Chinese invention patent of Publication No. CN104121934A
A kind of application for a patent for invention of entitled " sensor unit ", however the existing application for this device can not reliable mobile,
So that the scope of application is limited.
Summary of the invention
Therefore, in order to overcome the above problem, the present invention provides a kind of industrial robot for environmental monitoring, utilizes center
Processing unit, image collecting device, radio transmitting device, display device, storage device, reading data device, crawler belt, gas inspection
Device, noise detection apparatus, dust investigating, user terminal, driving device and image processing apparatus are surveyed, it can be to hazardous environment
Under environment be monitored, and using central processing unit control driving device, to control the crawler belt of robot, to make machine
People can flexibly move when monitoring environment, so that environment monitoring device is moved freely in hazardous environment, so as to more
Add the environmental state information for accurately knowing monitored environment, and uses radio transmitting device by collected environmental state information
It is transmitted to user terminal, staff can know in real time environmental state information by user terminal.
A kind of industrial robot for environmental monitoring according to the present invention, the industrial robot for environmental monitoring include
Central processing unit, image collecting device, radio transmitting device, display device, storage device, reading data device, crawler belt, gas
Body detection device, noise detection apparatus, dust investigating, user terminal, driving device and image processing apparatus；
Wherein, the input terminal of the output end of image collecting device and image processing apparatus connects, the output end of image processing apparatus,
The output end of the output end of gas-detecting device, the output end of noise detection apparatus and dust investigating is and central processing
The input terminal of device, the input terminal of the input terminal of display device, the input terminal of storage device and driving device is and centre
The output end connection of device is managed, the output end of storage device is connect with the input terminal of reading data device, the control of driving device
Signal output end is connect with crawler belt signal input part, and central processing unit is connect with radio transmitting device both-way communication, wireless to pass
Defeated device is connect with user terminal both-way communication.
Preferably, image processing apparatus includes image enhancing unit, image smoothing unit, image sharpening unit and ash
Spend converter unit；
Wherein, the signal output end of image collecting device and the input terminal of image enhancing unit connect, image enhancing unit it is defeated
Outlet is connect with the input terminal of image smoothing unit, and the output end of image smoothing unit and the input terminal of image sharpening unit connect
It connects, the output end of image sharpening unit is connect with the input terminal of greyscale transformation unit, the output end of greyscale transformation unit and center
The input terminal of processing unit connects；
Wherein, image enhancing unit carries out brightness of image enhancing processing to the image information of image acquisition device, and image is flat
Sliding unit is to by image enhancing unit, treated that image information carries out image definition enhancing processing, image sharpening unit pair
Image information after image smoothing cell processing carries out image sharpening processing, and greyscale transformation unit is to by image sharpening list
Member treated image information carries out image grayscale extension process, and greyscale transformation unit will treated during image information is transmitted to
Entreat processing unit.
Preferably, image collecting device is set to robot upper part position, for acquiring the figure of robot
It is transmitted to image processing apparatus as information, and by the image information of acquisition, image processing apparatus carries out received image information
Treated image information by radio transmitting device is transmitted to user terminal by image procossing, central processing unit, central processing
By treated, image information is stored to storage device device, and by treated, image information display is extremely shown central processing unit
Device.
Preferably, it includes sulfur dioxide that gas-detecting device, which is arranged in robot medium position, gas-detecting device,
Sensor, nitrogen dioxide sensor, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor, titanium dioxide
Sulfer sensor, nitrogen dioxide sensor, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor harvester
Above-mentioned gas information is transmitted to central processing unit, central processing by the gas information of device people's ambient enviroment, gas-detecting device
Above-mentioned gas information is transmitted to user terminal by radio transmitting device by device, and central processing unit stores above-mentioned gas information
To storage device, central processing unit shows above-mentioned gas information to display device.
Preferably, it includes surveying sensing of making an uproar that noise detection apparatus, which is arranged in robot medium position, noise detection apparatus,
Device surveys the noise information for sensor acquisition robot of making an uproar, during above-mentioned noise information is transmitted to by noise detection apparatus
Processing unit is entreated, above-mentioned noise information is transmitted to user terminal, central processing dress by radio transmitting device by central processing unit
It sets and stores above-mentioned noise information to storage device, central processing unit shows above-mentioned noise information to display device.
Preferably, it includes dust concentration that dust investigating, which is arranged in robot medium position, dust investigating,
Sensor, sensor of dust concentration acquire the dust concentration information of robot, and dust investigating is by above-mentioned dust
Concentration information is transmitted to central processing unit, and central processing unit transmits above-mentioned dust concentration information by radio transmitting device
To user terminal, central processing unit stores above-mentioned dust concentration information to storage device, and central processing unit is by above-mentioned dust
Concentration information is shown to display device.
Preferably, the image definition that image collecting device is transmitted to the robot of image processing apparatus is
Two-dimensional function f (x, y), wherein x, y are space coordinates, and image enhancing unit carries out at brightness of image enhancing image f (x, y)
Reason is g (x, y) by brightness of image enhancing treated two-dimensional image function, wherein image p (x, y) is to image f (x, y)
Pretreated image is carried out,
；
。
Preferably, image smoothing unit carries out image definition enhancing processing to image g (x, y), by image clearly
Degree enhancing treated two-dimensional image function is h (x, y), wherein smooth function is q (x, y),
；
；
Wherein , ﹡ is convolution symbol,For customized adjustable constant, smooth effect is to pass throughCome what is controlled.
Preferably, image sharpening unit carries out image sharpening processing to image h (x, y), after image sharpening is handled
Two-dimensional image function be d (x, y), wherein
。
Preferably, gray shade unit carries out tonal range extension process, the ash of above-mentioned image d (x, y) to image d (x, y)
Angle value range is [a, b], the intensity value ranges of image d (x, y) is extended to [c, d], wherein a, b, c, d is constant, then converts
Two-dimensional image function afterwards is z (x, y), wherein
。
Wherein, by treated, image z (x, y) is transmitted to central processing unit to image processing apparatus, central processing unit
Image z (x, y) is transmitted to display device and storage device, also, central processing unit by image z (x, y) by wirelessly passing
Defeated device is transmitted to user terminal.
Preferably, the reading data interface of reading data device is USB interface.
Preferably, client is user mobile phone or tablet computer.
Preferably, driving device includes a servo motor, and servo motor is connect with crawler belt.
It preferably, include fpga chip inside central processing unit.
Compared with prior art, the present invention has following beneficial effect：
（1）The present invention is provided to the industrial robot of environmental monitoring, central processing unit, image collecting device, wireless is utilized
Transmitting device, display device, storage device, reading data device, crawler belt, gas-detecting device, noise detection apparatus, dust inspection
Device, user terminal, driving device and image processing apparatus are surveyed, the environment under hazardous environment can be monitored, and in use
Processing unit is entreated to control driving device, to control the crawler belt of robot, to allow the robot to flexibly move when monitoring environment
It is dynamic, so that environment monitoring device is moved freely in hazardous environment, so as to more accurately know monitored environment
Environmental state information, and collected environmental state information is transmitted to user terminal, staff's energy using radio transmitting device
Environmental state information is enough known by user terminal in real time；
（2）Provided by the present invention for the industrial robot of environmental monitoring, image processing apparatus successively carries out the image of acquisition
Image enhancement, image smoothing, image sharpening and image gray-scale transformation processing, can efficiently, quickly extract image collecting device
The identification precision to environment monitoring device ambient enviroment image can be improved in image information, efficiently reduces erroneous judgement and happens.
Detailed description of the invention
Fig. 1 is the structure chart of the industrial robot for environmental monitoring of the invention；
Fig. 2 is the schematic diagram of the industrial robot for environmental monitoring of the invention；
Fig. 3 is the schematic diagram of image processing apparatus of the invention.
Appended drawing reference is as follows：
1- central processing unit；2- image collecting device；3- radio transmitting device；4- display device；5- storage device；6- data
Reading device；7- crawler belt；8- gas-detecting device；9- noise detection apparatus；10- dust investigating；11- user terminal；12- drives
Dynamic device；13- image processing apparatus.
Specific embodiment
The industrial robot provided by the present invention for environmental monitoring is carried out specifically with reference to the accompanying drawings and examples
It is bright.
It as shown in Figs. 1-2, include central processing unit provided by the present invention for the industrial robot of environmental monitoring（1）,
Image collecting device（2）, radio transmitting device（3）, display device（4）, storage device（5）, reading data device（6）, crawler belt
（7）, gas-detecting device（8）, noise detection apparatus（9）, dust investigating（10）, user terminal（11）, driving device（12）
And image processing apparatus（13）.
Wherein, image collecting device（2）Output end and image processing apparatus（13）Input terminal connection, image procossing dress
It sets（13）Output end, gas-detecting device（8）Output end, noise detection apparatus（9）Output end and dust detection dress
It sets（10）Output end and central processing unit（1）Input terminal, display device（4）Input terminal, storage device（5）It is defeated
Enter end and driving device（12）Input terminal and central processing unit（1）Output end connection, storage device（5）Output
End and reading data device（6）Input terminal connection, driving device（12）Control signal output and crawler belt（7）Signal input
End connection, central processing unit（1）With radio transmitting device（3）Both-way communication connection, radio transmitting device（3）With user terminal
（11）Both-way communication connection.
In above embodiment, central processing unit is utilized（1）, image collecting device（2）, radio transmitting device（3）, it is aobvious
Showing device（4）, storage device（5）, reading data device（6）, crawler belt（7）, gas-detecting device（8）, noise detection apparatus
（9）, dust investigating（10）, user terminal（11）, driving device（12）And image processing apparatus（13）, can be to hazardous environment
Under environment be monitored, and use central processing unit（1）Control driving device（12）, to control the crawler belt of robot, from
And allow the robot to flexibly move when monitoring environment, so that environment monitoring device is moved freely in hazardous environment, from
And it can more accurately know the environmental state information of monitored environment, and use radio transmitting device（3）It will be collected
Environmental state information is transmitted to user terminal, and staff can know in real time environmental state information by user terminal.
As above-mentioned further preferential, as shown in figure 3, image processing apparatus（13）Including image enhancing unit, image
Smooth unit, image sharpening unit and greyscale transformation unit；
Wherein, image collecting device（2）Signal output end and image enhancing unit input terminal connect, image enhancing unit
Output end is connect with the input terminal of image smoothing unit, and the output end of image smoothing unit and the input terminal of image sharpening unit connect
It connects, the output end of image sharpening unit is connect with the input terminal of greyscale transformation unit, the output end of greyscale transformation unit and center
Processing unit（1）Input terminal connection；
Wherein, image enhancing unit is to image collecting device（2）The image information of acquisition carries out brightness of image enhancing processing, image
Smooth unit carries out image definition enhancing processing, image sharpening unit to by image enhancing unit treated image information
Image sharpening processing is carried out to the image information after image smoothing cell processing, greyscale transformation unit is to by image sharpening
Image information after cell processing carries out image grayscale extension process, and by treated, image information is transmitted to greyscale transformation unit
Central processing unit（1）.
In above embodiment, image processing apparatus（13）To the image of acquisition successively carry out image enhancement, image smoothing,
Image sharpening and image gray-scale transformation processing, can efficiently, quickly extract image collecting device（2）Image information, can be improved
To the identification precision of environment monitoring device ambient enviroment image, efficiently reduces erroneous judgement and happen.
Specifically, image collecting device（2）It is set to robot upper part position, for acquiring the figure of robot
As information, and the image information of acquisition is transmitted to image processing apparatus（13）, image processing apparatus（13）To received image
Information carries out image procossing, central processing unit（1）By treated, image information passes through radio transmitting device（3）It is transmitted to use
Family end（11）, central processing unit（1）By treated, image information is stored to storage device（5）, central processing unit（1）It will
Image information display that treated is to display device（4）.
Specifically, gas-detecting device（8）It is arranged in robot medium position, gas-detecting device（8）In include dioxy
Change sulfer sensor, nitrogen dioxide sensor, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor, two
Oxidation sulfer sensor, nitrogen dioxide sensor, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor are adopted
Collect the gas information of robot, gas-detecting device（8）Above-mentioned gas information is transmitted to central processing unit
（1）, central processing unit（1）Above-mentioned gas information is passed through into radio transmitting device（3）It is transmitted to user terminal（11）, central processing
Device（1）Above-mentioned gas information is stored to storage device（5）, central processing unit（1）Above-mentioned gas information is shown to aobvious
Showing device（4）.
Specifically, noise detection apparatus（9）It is arranged in robot medium position, noise detection apparatus（9）In include survey make an uproar
Sensor surveys the noise information for sensor acquisition robot of making an uproar, noise detection apparatus（9）Above-mentioned noise information is passed
Transport to central processing unit（1）, central processing unit（1）Above-mentioned noise information is passed through into radio transmitting device（3）It is transmitted to use
Family end（11）, central processing unit（1）Above-mentioned noise information is stored to storage device（5）, central processing unit（1）It will be above-mentioned
Noise information is shown to display device（4）.
In above embodiment, image collecting device（2）It is set to robot upper part position, can not only pass through harvester
The image information of device people's ambient enviroment, makes staff know the environmental information around robot, moreover it is possible to make staff according to
The image information control robot of the robot of acquisition is mobile, to avoid collision barrier.
Specifically, dust investigating（10）It is arranged in robot medium position, dust investigating（10）In include powder
Dust concentration sensor, sensor of dust concentration acquire the dust concentration information of robot, dust investigating（10）
Above-mentioned dust concentration information is transmitted to central processing unit（1）, central processing unit（1）Above-mentioned dust concentration information is passed through
Radio transmitting device（3）It is transmitted to user terminal（11）, central processing unit（1）Above-mentioned dust concentration information is stored to storage and is filled
It sets（5）, central processing unit（1）Above-mentioned dust concentration information is shown to display device（4）.
In above embodiment, staff can pass through user terminal（11）The gas letter of monitored environment is known in real time
Breath, noise information and dust concentration information, are capable of the state parameter of the monitored environment of timely learning, and then can be to being monitored
Environment has comprehensive understanding.
Specifically, reading data device（6）Reading data interface be USB interface.
In above embodiment, staff can obtain the state parameter of monitored environment by above-mentioned USB interface.
Specifically, client（12）For user mobile phone or tablet computer.
In above embodiment, staff can pass through mobile phone or the shape of the monitored environment of tablet computer timely learning
State.
Specifically, driving device（12）Including a servo motor, servo motor and crawler belt（7）Connection.
Specifically, central processing unit（1）Inside includes fpga chip.
Specifically, by image collecting device（2）It is transmitted to image processing apparatus（13）Robot image
It is defined as two-dimensional function f (x, y), wherein x, y are space coordinates, and image enhancing unit carries out brightness of image to image f (x, y)
Enhancing processing is g (x, y) by brightness of image enhancing treated two-dimensional image function, wherein image p (x, y) is to image
F (x, y) carries out pretreated image,
；
。
Specifically, image smoothing unit carries out image definition enhancing processing to image g (x, y), by image definition
Enhancing treated two-dimensional image function is h (x, y), wherein smooth function is q (x, y),
；
；
Wherein , ﹡ is convolution symbol,For customized adjustable constant, smooth effect is to pass throughCome what is controlled.
Specifically, image sharpening unit carries out image sharpening processing to image h (x, y), and by image sharpening, treated
Two-dimensional image function is d (x, y), wherein
。
Specifically, gray shade unit carries out tonal range extension process, the gray scale of above-mentioned image d (x, y) to image d (x, y)
Being worth range is [a, b], the intensity value ranges of image d (x, y) is extended to [c, d], wherein a, and b, c, d is constant, then after converting
Two-dimensional image function be z (x, y), wherein
。
Wherein, image processing apparatus（13）By treated, image z (x, y) is transmitted to central processing unit（1）, centre
Manage device（1）Image z (x, y) is transmitted to display device（4）And storage device（5）, also, central processing unit（1）It will figure
As z (x, y) passes through radio transmitting device（3）It is transmitted to user terminal（11）.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (10)
1. a kind of industrial robot for environmental monitoring, which is characterized in that the industrial robot packet for environmental monitoring
Include central processing unit（1）, image collecting device（2）, radio transmitting device（3）, display device（4）, storage device（5）, number
According to reading device（6）, crawler belt（7）, gas-detecting device（8）, noise detection apparatus（9）, dust investigating（10）, user terminal
（11）, driving device（12）And image processing apparatus（13）；
Wherein, described image acquisition device（2）Output end and described image processing unit（13）Input terminal connection, the figure
As processing unit（13）Output end, the gas-detecting device（8）Output end, the noise detection apparatus（9）Output
End and the dust investigating（10）Output end with the central processing unit（1）Input terminal, display dress
It sets（4）Input terminal, the storage device（5）Input terminal and the driving device（12）Input terminal with the center
Processing unit（1）Output end connection, the storage device（5）Output end and the reading data device（6）Input terminal
Connection, the driving device（12）Control signal output and the crawler belt（7）Signal input part connection, the central processing
Device（1）With the radio transmitting device（3）Both-way communication connection, the radio transmitting device（3）With the user terminal（11）
Both-way communication connection.
2. the industrial robot according to claim 1 for environmental monitoring, which is characterized in that described image processing unit
（13）Including image enhancing unit, image smoothing unit, image sharpening unit and greyscale transformation unit；
Wherein, described image acquisition device（2）Signal output end connect with the input terminal of described image enhancement unit, the figure
The output end of image intensifying unit is connect with the input terminal of described image smooth unit, the output end of described image smooth unit and institute
The input terminal connection of image sharpening unit is stated, described image sharpens the output end of unit and the input terminal of the greyscale transformation unit
Connection, the output end and the central processing unit of the greyscale transformation unit（1）Input terminal connection；
Wherein, described image enhancement unit is to described image acquisition device（2）The image information of acquisition carries out brightness of image enhancing
Processing, described image smooth unit carry out image definition enhancing to by described image enhancement unit treated image information
Processing, described image sharpen unit and carry out image sharpening processing to by described image smooth unit treated image information,
The greyscale transformation unit carries out image grayscale extension process, institute to the image information after described image sharpens cell processing
Stating greyscale transformation unit, image information is transmitted to the central processing unit by treated（1）.
3. the industrial robot according to claim 1 for environmental monitoring, which is characterized in that described image acquisition device
（2）It is set to robot upper part position, is passed for acquiring the image information of robot, and by the image information of acquisition
Transport to described image processing unit（13）, described image processing unit（13）Image procossing, institute are carried out to received image information
State central processing unit（1）By treated, image information passes through the radio transmitting device（3）It is transmitted to the user terminal
（11）, the central processing unit（1）By treated, image information is stored to the storage device（5）, the central processing
Device（1）Will treated image information display to the display device（4）.
4. the industrial robot according to claim 1 for environmental monitoring, which is characterized in that the gas-detecting device
（8）It is arranged in robot medium position, the gas-detecting device（8）In include SO 2 sensor, nitrogen dioxide sense
Device, carbon dioxide sensor, carbon monoxide transducer and nitric oxide sensor, the SO 2 sensor, described two
Nitrogen oxide sensor, the carbon dioxide sensor, the carbon monoxide transducer and nitric oxide sensor acquisition
The gas information of robot, the gas-detecting device（8）Above-mentioned gas information is transmitted to the central processing
Device（1）, the central processing unit（1）Above-mentioned gas information is passed through into the radio transmitting device（3）It is transmitted to the use
Family end（11）, the central processing unit（1）Above-mentioned gas information is stored to the storage device（5）, the central processing
Device（1）Above-mentioned gas information is shown to the display device（4）.
5. the industrial robot according to claim 1 for environmental monitoring, which is characterized in that the noise detection apparatus
（9）It is arranged in robot medium position, the noise detection apparatus（9）In include surveying to make an uproar sensor, survey sensor of making an uproar is adopted
Collect the noise information of robot, the noise detection apparatus（9）Above-mentioned noise information is transmitted to the centre
Manage device（1）, the central processing unit（1）Above-mentioned noise information is passed through into the radio transmitting device（3）It is transmitted to described
User terminal（11）, the central processing unit（1）Above-mentioned noise information is stored to the storage device（5）, the centre
Manage device（1）Above-mentioned noise information is shown to the display device（4）.
6. the industrial robot according to claim 1 for environmental monitoring, which is characterized in that the dust investigating
（10）It is arranged in robot medium position, the dust investigating（10）In include sensor of dust concentration, the dust is dense
Spend the dust concentration information of sensor acquisition robot, the dust investigating（10）Above-mentioned dust concentration is believed
Breath is transmitted to the central processing unit（1）, the central processing unit（1）Above-mentioned dust concentration information is passed through described wireless
Transmitting device（3）It is transmitted to the user terminal（11）, the central processing unit（1）Above-mentioned dust concentration information is stored to institute
State storage device（5）, the central processing unit（1）Above-mentioned dust concentration information is shown to the display device（4）.
7. the industrial robot according to claim 2 for environmental monitoring, which is characterized in that acquire described image and fill
It sets（2）It is transmitted to described image processing unit（13）Robot image definition be two-dimensional function f (x, y),
Middle x, y are space coordinates, and described image enhancement unit carries out brightness of image enhancing processing to image f (x, y), by brightness of image
Enhancing treated two-dimensional image function is g (x, y), wherein image p (x, y) be image f (x, y) is carried out it is pretreated
Image,
；
。
8. the industrial robot according to claim 7 for environmental monitoring, which is characterized in that described image smooth unit
Image definition enhancing processing is carried out to image g (x, y), is h by image definition enhancing treated two-dimensional image function
(x, y), wherein smooth function is q (x, y),
；
；
Wherein , ﹡ is convolution symbol,For customized adjustable constant, smooth effect is to pass throughCome what is controlled.
9. the industrial robot according to claim 8 for environmental monitoring, which is characterized in that described image sharpens unit
Image sharpening processing is carried out to image h (x, y), is d (x, y) by image sharpening treated two-dimensional image function, wherein
。
10. the industrial robot according to claim 9 for environmental monitoring, which is characterized in that the gray shade unit pair
Image d (x, y) carries out tonal range extension process, and the intensity value ranges of above-mentioned image d (x, y) are [a, b], by image d (x, y)
Intensity value ranges be extended to [c, d], wherein a, b, c, d are constant, then transformed two-dimensional image function be z (x, y),
In,
；
Wherein, described image processing unit（13）By treated, image z (x, y) is transmitted to the central processing unit（1）, institute
State central processing unit（1）Described image z (x, y) is transmitted to the display device（4）With the storage device（5）, also,
The central processing unit（1）Described image z (x, y) is passed through into radio transmitting device（3）It is transmitted to the user terminal（11）.
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| CN201810816921.3A CN108917843A (en) | 2018-07-24 | 2018-07-24 | A kind of industrial robot for environmental monitoring |
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Application publication date: 20181130 |