CN109008839A - A kind of wall surface cleaner device people - Google Patents
A kind of wall surface cleaner device people Download PDFInfo
- Publication number
- CN109008839A CN109008839A CN201710433952.6A CN201710433952A CN109008839A CN 109008839 A CN109008839 A CN 109008839A CN 201710433952 A CN201710433952 A CN 201710433952A CN 109008839 A CN109008839 A CN 109008839A
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- CN
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- Prior art keywords
- metope
- image
- unit
- region
- stain
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Classifications
-
- 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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
Abstract
The present invention relates to a kind of wall surface cleaner device people, which includes main structure, control unit, image acquisition unit, article recognition unit, article positioning unit, storage unit, playback unit, walking unit and power supply unit；Automatically metope and furniture or metope picture can be distinguished, realize automatic metope image identification, for the metope image of a certain position, the presence of stain can be automatically positioned out, and the specific location of stain, it is cleaned only for stain position, to ensure that clean efficiency, metope will not be damaged because of transition cleaning and meaningless cleaning simultaneously, greatly improve user experience；Compared with the existing technology, it takes action on one's own without user oneself.
Description
[technical field]
The invention belongs to smart home and computer field more particularly to a kind of wall surface cleaner device people.
[background technique]
Currently, home-services robot market just like comes into high-speed development period, entire industry has been stood uptake.But
It is that current household service robot form is also relatively simple, can really enters into the less more of family, principal mode is also only
It is sweeping robot and the toy robot with simple communication function.In addition, being pressed as the quickening of work rhythm, people live
The increase of power, the depth that people do not have time to carry out room are swept, and with the improvement of people's living standards, being badly in need of robot
Family is helped to be cleaned, this can find out from the hot of sweeping robot.Therefore, it is necessary to diversified machine person form,
Family can be really entered into, the head of a secret society people of active does housework.
To many families, metope health and ground health cannot be all increased in same height, this is primarily due to
The cleaning difficulty of metope is too big, and the distribution of metope stain disperses very much, in addition, the area of metope is about the 3 of floor area
Times, the clean workload of metope can not despise.For this purpose, the present invention proposes a kind of wall surface cleaner device people, pass through image recognition
Mode, can automatically by metope and furniture or metope picture distinguish, automatic metope image identification is realized, for certain
The metope image of one position can be automatically positioned out the presence of stain and the specific location of stain, only for stain position
It is cleaned, to ensure that clean efficiency, while metope will not be damaged because of transition cleaning and meaningless cleaning, greatly
Improve user experience.
[summary of the invention]
In order to solve the above problem in the prior art, the invention proposes a kind of wall surface cleaner device people, feature exists
In, including main unit, control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, storage
Unit, mobile unit, power supply unit communicate to connect between these units.
Main unit plays the role of receiving and support；Main unit is for accommodating control unit, metope recognition unit, dirt
Mark recognition unit, storage unit, power supply unit；It is used to support image acquisition unit, cleaning unit and mobile unit；
Image acquisition unit, which is used to debate in the metope that position X obtains the metope direction of default size, knows image CX, and returns
The metope got, which is debated, knows image CX；Image collection { CAl } is completed in the cleaning for being also used to obtain regional ensemble { Al } in position X,
And it returns to the cleaning got and completes image collection { CAl }；
The metope that metope recognition unit is used to will acquire debates knowledge image CX and metope sample image compares, to determine that this is obtained
The metope taken, which is debated, knows whether image is metope image, if it is, return position X and associated metope, which are debated, knows image CX；
Stain recognition unit debates knowledge image for obtaining position X and associated metope, and determines that the metope debates knowledge image
In whether include stain region, if it is, by the metope debate know image be divided into U region, determine stain region therein,
Return position X and associated stain zone number set；If it is not, then returning to free from smutting message to control unit；
Cleaning unit is used for after receiving cleaning message, obtains position X and associated stain zone number set
{Al}；Each region Al associated to position X is cleaned；After cleaning, to control unit send cleaning complete message,
Position X and associated zone number set { Al }；
Control unit is used to control the image acquisition of image acquisition unit, controls to the movement of mobile unit
System, controls the cleaning of cleaning unit, controls the identification of stain recognition unit, the identification to metope recognition unit
It is controlled, the storage of storage unit is controlled.
Further, the metope of acquisition debates knowledge image CX and metope sample image compares, to determine that the metope direction is obtained
The metope taken, which is debated, knows whether image is metope image, specifically: it calculates the image according to formula (1) and debates and know image and metope sample
Similarity S between image, wherein (PRi, PGi, PBi) is that metope debates the rgb value for knowing ith pixel in image, and N is metope
It debates and knows number of pixels total in image；(SRj, SGj, SBj) is the rgb value of j-th of pixel in metope sample image, and M is metope
Total number of pixels in sample image；
As S < ST1, then it is assumed that the metope of acquisition, which is debated, knows image for metope image, and ST1 is preset threshold.
Further, the metope of acquisition debates knowledge image CX and metope sample image compares, to determine that the metope direction is obtained
The metope taken, which is debated, knows whether image is metope image, specifically: pixel is carried out to metope recognisable image and metope sample image
The mode of sampling carries out similarity-rough set, is based only on sampled point and calculates similarity to reduce calculation amount.
Further, the R value mean value of metope sample image, B value mean value and G value mean value are pre-saved in memory,
The data prestored taking-up is directly used in calculating in calculating process.
Further, for each room, associated its metope sample image of preservation and its R value mean value, B value mean value and G
It is worth mean value.
Further, ST1 is preset value, which can be rule of thumb arranged, or is arranged by user.
Further, it is debated for metope and knows image CX identification stain region therein specifically: the metope is debated into knowledge image
Be divided into U region, for each region Al (1=< l≤U), according to formula (2) calculate the region and metope sample image it
Between similarity S；Wherein, (ARk, AGk, ABk) is the rgb value of k-th of pixel in region, and W is pixel total in a region
Number；(SRj, SGj, SBj) is the rgb value of j-th of pixel in metope sample image, and M is pixel total in metope sample image
Number；
As S > ST3, then judges that the region for stain region, records the number Al in the region, otherwise judge that the region is
Non- stain region；After all U regions that entire metope debates knowledge image CX judge, returns to all stain regions and compile
Number set { Al }, the number of element is less than or equal to U in stain regional ensemble.
Preferably, the size in region is preset value, and area size can be rule of thumb arranged；The size in U region is
It is identical, polishing is carried out using the pattern of metope sample image for the region of insufficient size requirements.
Further, area size can be set to different, and being divided into for metope recognisable image top half is larger
Region, and the lower half portion of metope recognisable image is divided into lesser region.
Further, the trend to become smaller is presented along the direction of metope recognisable image from top to bottom in the size in region.
The beneficial effect comprise that automatically distinguishing metope and furniture or metope picture, realize automatic
Metope image identification can be automatically positioned out the presence of stain and the specific position of stain for the metope image of a certain position
It sets, is cleaned only for stain position, to ensure that clean efficiency, while will not be cleaned because of transition and meaningless
It cleans and damages metope, greatly improve user experience.
[Detailed description of the invention]
Described herein the drawings are intended to provide a further understanding of the invention, constitutes part of this application, but
It does not constitute improper limitations of the present invention, in the accompanying drawings:
Fig. 1 is wall surface cleaner device people's general frame figure.
[specific embodiment]
Come that the present invention will be described in detail below in conjunction with attached drawing and specific embodiment, illustrative examples therein and says
It is bright to be only used to explain the present invention but not as a limitation of the invention.
Referring to attached drawing 1, it illustrates a kind of wall surface cleaner device people applied by the present invention.The robot includes main body list
Member, control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, storage unit, mobile list
Member, power supply unit communicate to connect between these units.
Main unit plays the role of receiving and support；Main structure can be in humanoid, pet shape etc..
Main unit is for accommodating control unit, metope recognition unit, stain recognition unit, storage unit, power supply unit；
It is used to support image acquisition unit, cleaning unit and mobile unit；
Image acquisition unit, which is used to debate in the metope that position X obtains the metope direction of default size, knows image CX, and returns
The metope got, which is debated, knows image CX；Image collection { CAl } is completed in the cleaning for being also used to obtain regional ensemble { Al } in position X,
And it returns to the cleaning got and completes image collection { CAl }；
The metope that metope recognition unit is used to will acquire debates knowledge image CX and metope sample image compares, to determine that this is obtained
The metope taken, which is debated, knows whether image is metope image, if it is, return position X and associated metope, which are debated, knows image CX；
Metope sample image can be obtained or be specified by user, can also be determined by robot learning；
The metope of acquisition debates knowledge image CX and metope sample image compares, and is debated with the metope for determining that the metope direction obtains
Know whether image is metope image, specifically: it calculates the image according to formula (1) and debates and know between image and metope sample image
Similarity S；Wherein, (PRi, PGi, PBi) is that metope debates the rgb value for knowing ith pixel in image, and N is that metope is debated in knowledge image
Total number of pixels；(SRj, SGj, SBj) is the rgb value of j-th of pixel in metope sample image, and M is in metope sample image
Total number of pixels；
As S < ST1, then it is assumed that the metope of acquisition, which is debated, knows image for metope image；
It, can be to metope recognisable image in view of the GRB value calculating similarity calculation amount based on all pixels can be bigger
With metope sample image carry out pixel point sampling mode carry out similarity-rough set, by using mode, be based only on sampling
Point calculates similarity, can greatly reduce calculation amount；
It is preferred: to pre-save the R value mean value of metope sample image, B value mean value and G value mean value in memory, counting
It only needs to take out the data prestored during calculating directly to use, thus the time required to reducing calculating；Corresponding each room, is closed
Its metope sample image of the preservation of connection and its R value mean value, B value mean value and G value mean value；
ST1 is preset value, which can be rule of thumb arranged, or is arranged by user；
Stain recognition unit debates knowledge image for obtaining position X and associated metope, and determines that the metope debates knowledge image
In whether include stain region, if it is, determining the stain region, return position X and associated stain zone number collection
It closes；If it is not, then returning to free from smutting message to control unit；
Whether determine that the metope is debated in knowledge image includes stain region, specifically: if S < ST1 and log2S > ST2 then recognizes
To include stain region；If log2S≤ST2 then thinks not including stain region；If being directed to wall comprising stain region
Face, which is debated, knows image recognition stain region therein；Wherein ST1, ST2 are preset value；
It is debated for metope and knows image CX identification stain region therein specifically: the metope is debated into knowledge image and is divided into U
Region calculates similar between the region and metope sample image for each region Al (1=< l≤U) according to formula (2)
Spend S；Wherein, (ARk, AGk, ABk) is the rgb value of k-th of pixel in region, and W is number of pixels total in a region；
(SRj, SGj, SBj) is the rgb value of j-th of pixel in metope sample image, and M is number of pixels total in metope sample image；
As S > ST3, then judges that the region for stain region, records the number Al in the region, otherwise judge that the region is
Non- stain region；After all U regions that entire metope debates knowledge image CX judge, returns to all stain regions and compile
Number set { Al }；The number of element is less than or equal to U in stain regional ensemble；
Preferred: the size in region is preset value, and area size can be rule of thumb arranged.The size in U region is
It is identical, polishing is carried out using the pattern of metope sample image for the region of insufficient size requirements；
It is preferred: area size can be set to it is different, being divided into for metope recognisable image top half is biggish
Region, and the lower half portion of metope recognisable image is divided into lesser region；In view of the top part of metope does not need
Therefore frequent cleaning only pays close attention to the metope part for being easy to produce stain, that is, the lower half portion of metope；It is preferred that
: the trend to become smaller is presented along metope recognisable image from top to bottom for the size in region；
Cleaning unit is used for after receiving cleaning message, obtains position X and associated stain zone number set
{Al}；Each region Al associated to position X is cleaned；The first predetermined time T1, cleaning are cleaned for each region Al
After, cleaning, which is sent, to control unit completes message, position X and associated zone number set { Al }；It is first pre- at this
In fixing time, cleaning unit can be cleaned using the first cleaning mode；
Control unit is moved to position X for controlling mobile unit, and image acquisition unit is notified to carry out image in position X
It obtains；Control unit calculates all position X for needing to be moved to using navigation algorithm, carries out image acquisition based on all position X
All indoor walls can be covered；
The position X and associated metope for being also used to receive the return of metope recognition unit, which are debated, knows image CX, and is sent to dirt
Mark recognition unit；Mobile unit, which is controlled, if the free from smutting message for receiving the return of stain recognition unit is moved to the next position
X, to handle the corresponding metope of the next position X；If receiving position X and its association of stain recognition unit return
Stain zone number set, then send it to cleaning unit, and send cleaning message simultaneously；
It is also used to after receiving cleaning and completing message, acquisition and associated stain zone number set { Al }, and will
Position X and zone number set { Al } are sent to image acquisition unit, receive the zone number that image acquisition unit returns
Gather { Al } corresponding cleaning and complete image collection { CAl }, which is calculated according to formula (2) and is completed in image collection { CAl }
Each region CAl and metope sample image between similarity S；If S > ST4, judge that the cleaning of region Al is completed not
Qualification records zone number Al in new stain zone number set, otherwise, judges that the cleaning of region Al is completed to close
Lattice do not record the zone number；After the completion of all cleaning the region completed in image collection { CAl } and judging, if new
Element number in zone number set is more than or equal to 1, then sends cleaning message again to cleaning unit, while sending position X
And associated new stain zone number set { Al }；Wherein, ST4 and ST3 is preset value；
Mobile unit is used to be moved to designated position under the control of the control unit, such as: position X is moved to convenient
Image acquisition unit carries out image acquisition, is moved to suitable position unit convenient for cleaning and is cleaned, is moved to suitable position
It sets and repairing unit is facilitated to repair etc.；
Storage unit is used for associated save location X, associated metope identification figure for storing all intermediate data
Picture, the corresponding regional ensemble of metope recognisable image；
Power supply is used to power to said modules, preferably moves Rechargeable battery group.
The above description is only a preferred embodiment of the present invention, thus it is all according to the configuration described in the scope of the patent application of the present invention,
The equivalent change or modification that feature and principle are done, is included in the scope of the patent application of the present invention.
Claims (10)
1. a kind of wall surface cleaner device people, which is characterized in that wall surface cleaner device people includes main unit, control unit, figure
Picture acquiring unit, metope recognition unit, stain recognition unit, cleaning unit, storage unit, mobile unit, power supply unit, these
It is communicated to connect between unit.
Main unit plays the role of receiving and support；Main unit is known for accommodating control unit, metope recognition unit, stain
Other unit, storage unit, power supply unit；It is used to support image acquisition unit, cleaning unit and mobile unit；
Image acquisition unit, which is used to debate in the metope that position X obtains the metope direction of default size, knows image CX, and returns to acquisition
To metope debate know image CX；Image collection { CAl } is completed in the cleaning for being also used to obtain regional ensemble { Al } in position X, and is returned
It returns the cleaning got and completes image collection { CAl }；
The metope that metope recognition unit is used to will acquire debates knowledge image CX and metope sample image compares, to determine the acquisition
Metope, which is debated, knows whether image is metope image, if it is, return position X and associated metope, which are debated, knows image CX；
Stain recognition unit is for obtaining position X and associated metope debates knowledge image, and determining that the metope debates to know in image
No includes stain region, is divided into U region if it is, the metope is debated and knows image, determines stain region therein, returns
Position X and associated stain zone number set；If it is not, then returning to free from smutting message to control unit；
Cleaning unit is used for after receiving cleaning message, obtains position X and associated stain zone number set { Al }；It is right
X associated each region Al in the position is cleaned；After cleaning, to control unit send cleaning complete message, position X and
Associated zone number set { Al }；
Control unit is used to control the image acquisition of image acquisition unit, controls the movement of mobile unit, right
The cleaning of cleaning unit is controlled, and is controlled the identification of stain recognition unit, is carried out to the identification of metope recognition unit
Control, controls the storage of storage unit.
2. wall surface cleaner device people according to claim 1, which is characterized in that the metope of acquisition, which is debated, knows image CX and metope
Sample image compares, to determine that the metope that the metope direction obtains debates whether knowledge image is metope image, specifically: according to public affairs
Formula (1) calculates the image and debates the similarity S known between image and metope sample image, wherein (PRi, PGi, PBi) debates for metope
Know the rgb value of ith pixel in image, N is that metope debates number of pixels total in knowledge image；(SRj, SGj, SBj) is metope sample
The rgb value of j-th of pixel in this image, M are number of pixels total in metope sample image；
As S < ST1, then it is assumed that the metope of acquisition, which is debated, knows image for metope image, and ST1 is preset threshold.
3. wall surface cleaner device people according to claim 1, which is characterized in that the metope of acquisition, which is debated, knows image CX and metope
Sample image compares, to determine that the metope that the metope direction obtains debates whether knowledge image is metope image, specifically: to metope
The mode that recognisable image and metope sample image carry out pixel point sampling carries out similarity-rough set, is based only on sampled point and calculates phase
Like degree to reduce calculation amount.
4. wall surface cleaner device people according to claim 2, which is characterized in that pre-save metope sample in memory
The data prestored taking-up is directly used in calculating in calculating process by the R value mean value of image, B value mean value and G value mean value.
5. wall surface cleaner device people according to claim 2, which is characterized in that associated to save it for each room
Metope sample image and its R value mean value, B value mean value and G value mean value.
6. wall surface cleaner device people according to claim 2, which is characterized in that ST1 is preset value, which can root
It is arranged according to experience, or is arranged by user.
7. wall surface cleaner device people according to claim 1, which is characterized in that debated for metope and know image CX identification wherein
Stain region specifically: the metope is debated and knows image and is divided into U region, for each region Al (1=< l≤U), according to
Formula (2) calculates the similarity S between the region and metope sample image；Wherein, (ARk, AGk, ABk) is k-th in region
The rgb value of pixel, W are number of pixels total in a region；(SRj, SGj, SBj) is j-th of pixel in metope sample image
Rgb value, M is total number of pixels in metope sample image；
As S > ST3, then judges that the region for stain region, records the number Al in the region, otherwise judge the region for non-dirt
Mark region；After all U regions that entire metope debates knowledge image CX judge, all stain zone number collection are returned
It closes { Al }, the number of element is less than or equal to U in stain regional ensemble.
8. wall surface cleaner device people according to claim 7, which is characterized in that preferred: the size in region is preset value,
Area size can be rule of thumb arranged；The size in U region be it is identical, for insufficient size requirements region use wall
The pattern of face sample image carries out polishing.
9. wall surface cleaner device people according to claim 7, which is characterized in that area size can be set to it is different,
Metope recognisable image top half is divided into biggish region, and the lower half portion of metope recognisable image is divided into smaller
Region.
10. wall surface cleaner device people according to claim 7, which is characterized in that the size in region is recognized along metope to be schemed
As the trend to become smaller is presented in direction from top to bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433952.6A CN109008839A (en) | 2017-06-09 | 2017-06-09 | A kind of wall surface cleaner device people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433952.6A CN109008839A (en) | 2017-06-09 | 2017-06-09 | A kind of wall surface cleaner device people |
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| CN201710433952.6A Pending CN109008839A (en) | 2017-06-09 | 2017-06-09 | A kind of wall surface cleaner device people |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110874101A (en) * | 2019-11-29 | 2020-03-10 | 哈工大机器人（合肥）国际创新研究院 | Method and device for generating cleaning path of robot |
| CN111739092A (en) * | 2020-06-12 | 2020-10-02 | 广东博智林机器人有限公司 | Hanging basket, detection robot, detection control system and detection method |
-
2017
- 2017-06-09 CN CN201710433952.6A patent/CN109008839A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110874101A (en) * | 2019-11-29 | 2020-03-10 | 哈工大机器人（合肥）国际创新研究院 | Method and device for generating cleaning path of robot |
| CN111739092A (en) * | 2020-06-12 | 2020-10-02 | 广东博智林机器人有限公司 | Hanging basket, detection robot, detection control system and detection method |
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