CN109008840A - A kind of metope repair robot - Google Patents
A kind of metope repair robot Download PDFInfo
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- CN109008840A CN109008840A CN201710434520.7A CN201710434520A CN109008840A CN 109008840 A CN109008840 A CN 109008840A CN 201710434520 A CN201710434520 A CN 201710434520A CN 109008840 A CN109008840 A CN 109008840A
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- 230000008439 repair process Effects 0.000 title claims abstract description 31
- 238000004140 cleaning Methods 0.000 claims abstract description 55
- 238000000034 method Methods 0.000 claims description 16
- 238000012797 qualification Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007592 spray painting technique Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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
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- 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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of metope repair robots, the robot includes main unit, control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, repairing unit, storage unit, mobile unit, power supply unit, is communicated to connect between these units；The robot can automatically identify the wall locations that metope stain is largely presented, the repair process that the metope of the position is concentrated, when excessive for the area for needing to repair, it needs to carry out metope reparation based on user feedback, and preferential reparation is then considered for continuous stain region, the repair mode that hommization is carried out on the basis of substantially clean, what it is such that user trusts consigns to robot for metope and arranges, and improves user experience.
Description
[technical field]
The invention belongs to smart home and computer field more particularly to a kind of intelligent domestic robots.
[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 directed to the cleaning device of metope at present
Do not have intelligentized feature, burnisher can only be referred to as, these burnishers are unable to initiative thinking, and user needs
Participation could be directed to metope and be cleaned.In addition, especially having the family of child to many families, metope is past as ground
Toward cannot it is dirty child often writes drawing on metope quickly, reel, therefore, be badly in need of one kind can automatically into
The robot device of row metope reparation can automatically identify metope for this purpose, the present invention proposes a kind of metope repair robot
The wall locations that stain is largely presented, the repair process that the metope of the position is concentrated, the area mistake that needs are repaired
It when big, needs to carry out metope reparation based on user feedback, and preferential reparation is then considered for continuous stain region, basic
The repair mode that hommization is carried out on the basis of clean, what it is such that user trusts consigns to robot for metope and arranges, and mentions
High user experience.
[summary of the invention]
In order to solve the above problem in the prior art, the invention proposes a kind of metope repair robot, feature exists
In, including main unit, control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, repairing
Unit, storage unit, mobile unit, power supply unit communicate to connect between these units；
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 { Al }；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；
Region Al of the repairing unit in each zone number set { Al } associated to position X is repaired；Repairing
Mode can be again spray painting etc. modes.
Further, control unit is also used to after receiving cleaning and completing message, obtains position X and associated stain
Zone number set { Al }, and position X and zone number set { Al } are sent to image acquisition unit, it receives image and obtains
Image collection { CAl } is completed in the corresponding cleaning of the zone number set { Al } that unit returns, and calculates the pixel value of region Al
The ratio S of mean value and the pixel value mean value of metope sample image；If S > ST4, judge that the cleaning completion of region Al does not conform to
Lattice record zone number Al in new stain zone number set, otherwise, judge that qualification is completed in the cleaning of region Al,
The zone number is not recorded.
Further, control unit is also used to all to clean the region completed in image collection { CAl } and judges to complete
Afterwards, if the element number in new zone number set is more than or equal to first threshold T1, it is single to repairing to send repairing message
Member, while sending position X and associated new zone number set { Al }.
Further, if the element number in new zone number set is less than first threshold T1 and is greater than second threshold
T2 then sends cleaning message to cleaning unit again, while sending position X and associated new zone number set
{Al}。
Further, if the element number in new zone number set is less than or equal to second threshold T2, shifting is controlled
Moving cell is moved to the next position X, to handle the corresponding metope of the next position X.
Further, repairing unit is also used to calculate the size summation of all areas A1, if size summation is greater than first
Size threshold value K1 then needs the corresponding metope recognisable image of the zone number set { Al } being sent to user, and obtains user
Feedback, and based on user feedback carry out next step operation, if user feedback agreement repaired, according to user feedback
Repairing method repaired.
Further, if size summation is less than the second size threshold k 2, directly each region A1 is repaired.
Further, if size summation is less than or equal to the first size threshold value K1 and is more than or equal to the second size threshold k 2,
Then key area is selected to be repaired.
Further, it wirelessly sends image data and obtains user feedback；By repairing method option one
It rises and is sent to user, if user agrees to repair, can be selected in concentrating repairing method to be selected, if user
Any repairing method is not selected and agrees to repairing, then is repaired using the repairing method of default.
Further, the selection mode of key area is: selecting region interconnected as key area.
The beneficial effect comprise that the wall locations that metope stain is largely presented can automatically be identified, by this
The repair process that the metope of position is concentrated when excessive for the area for needing to repair, needs to carry out wall based on user feedback
Face is repaired, and then considers preferential reparation for continuous stain region, and repairing for hommization is carried out on the basis of substantially clean
Compound formula, what it is such that user trusts consigns to robot for metope and arranges, and improves 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 metope repair robot 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 metope repair robots 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, repairing unit, storage are single
Member, mobile unit, 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, repairing 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 that will acquire debates knowledge image CX and metope sample image compares, to determine the metope of metope direction acquisition
It debates and knows whether image is metope image, specifically: the pixel value for calculating separately metope recognisable image CX and metope sample image is equal
Value, calculates the ratio S of the pixel value mean value of metope recognisable image CX and the pixel value mean value of metope sample image, as S < ST1
When, then it is assumed that the metope of acquisition, which is debated, knows image for metope image；ST1 is preset value；
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 stain regional ensemble, return position X and associated stain zone number
Set；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, and 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 separately the pixel value mean value of region Al and metope sample image for each region Al (1=< l≤U), calculates
The ratio S of the pixel value mean value of the pixel value mean value and metope sample image of region Al then judges the region as S > ST3
For stain region, the number Al in the region is recorded, otherwise judges the region for non-stain region；It is debated in entire metope and knows image CX
All U regions judge after, return to all stain zone number set { Al }；Element in stain regional ensemble
Number is less than or equal to U；
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, obtains position X and associated stain zone number set { Al },
And position X and zone number set { Al } are sent to image acquisition unit, receive the region that image acquisition unit returns
Image collection { CAl } is completed in the corresponding cleaning of number set { Al }, calculates the pixel value mean value and metope sample graph of region Al
The ratio S of the pixel value mean value of picture；If S > ST4, judges that the cleaning completion of region Al is unqualified, record the zone number
Al is in new stain zone number set, otherwise, judges that qualification is completed in the cleaning of region Al, does not record the zone number；
After the completion of all cleaning the region completed in image collection { CAl } and judging, if the element in new zone number set
Number is more than or equal to first threshold T1, then sends repairing message and give repairing unit, while sending position X and associated new
Zone number set { Al }；If the element number in new zone number set is less than first threshold T1 and is greater than second threshold
T2 then sends cleaning message to cleaning unit again, while sending position X and associated new zone number set
{Al}；If the element number in new zone number set is less than or equal to second threshold T2, controls mobile unit and be moved to
The next position X, to handle the corresponding metope of the next position X；ST4 and ST5 is preset value；If underproof area
Domain number is fewer, it may be considered that cleaning is substantially qualified, directly handles next wall locations；
If the stain quantity for being located at the same position is excessive, desired effect may cannot be reached by simply cleaning
Fruit, and disposably being cleaned for excessive wall section, may destroy metope, at this point it is possible to consider directly into
The mode of row wall-surface patching is thoroughly cleaned；
Region Al of the repairing unit in each zone number set { Al } associated to position X is repaired；Repairing
Mode can be again spray painting etc. modes；
Repairing unit is also used to calculate the size summation of all areas A1, if size summation is greater than the first size threshold value
K1 then needs the corresponding metope recognisable image of the zone number set { Al } being sent to user, and obtains the feedback of user, and
The operation of next step is carried out based on user feedback, specifically, if user feedback agreement is repaired, according to user feedback
Repairing method is repaired；If size summation less than the second size threshold k 2, directly repairs each region A1；Such as
Fruit size summation is less than or equal to the first size threshold value K1 and is more than or equal to the second size threshold k 2, then selects key area to be repaired
It mends；Preferably, it can wirelessly send image data and obtain user feedback；
It is preferred: repairing method option is sent jointly into user, if user agree to repair, can concentrate to
It is selected in the repairing method of choosing, if user does not select any repairing method and agrees to repairing, using default
Repairing method is repaired；
The selection mode of key area is: selecting region interconnected as key area；If between region mutually
Connect adjacent, then metope may show sheet of stain effect, therefore, such stain emphasis is handled, and to from
Scattered stain region can wait the further processing in subsequent cleaning mending course；
If may influence whether the next living arrangement of user in view of the area repaired is excessive, therefore, carry out
When the repairing of larger area, need to carry out active communication with user；If repairing range very little, it is not easy to which sight is found or substantially
It does not interfere with user to live, is then directly repaired；
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 for storing all intermediate data；
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 metope repair robot, which is characterized in that the metope repair robot includes main unit, control unit, figure
As acquiring unit, metope recognition unit, stain recognition unit, cleaning unit, repairing unit, storage unit, mobile unit, power supply
Unit communicates to connect between these units；
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 { Al }；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；
Region Al of the repairing unit in each zone number set { Al } associated to position X is repaired.
2. metope repair robot according to claim 1, which is characterized in that control unit is also used to receiving cleaning
After completing message, position X and associated stain zone number set { Al } are obtained, and by position X and zone number set
{ Al } is sent to image acquisition unit, receives the corresponding cleaning of the zone number set { Al } that image acquisition unit returns and completes
Image collection { CAl } calculates the ratio S of the pixel value mean value of region Al and the pixel value mean value of metope sample image；If S
> ST4 then judges that the cleaning completion of region Al is unqualified, records zone number Al in new stain zone number set,
Otherwise, judge that qualification is completed in the cleaning of region Al, do not record the zone number.
3. metope repair robot according to claim 2, which is characterized in that control unit is also used to all to have cleaned
After the completion of judging at the region in image collection { CAl }, if the element number in new zone number set is more than or equal to
First threshold T1 then sends repairing message and gives repairing unit, while sending position X and associated new zone number set
{Al}。
4. metope repair robot according to claim 3, which is characterized in that if the member in new zone number set
Plain number is less than first threshold T1 and is greater than second threshold T2, then sends cleaning message again to cleaning unit, while sending should
Position X and associated new zone number set { Al }.
5. metope repair robot according to claim 4, which is characterized in that if the member in new zone number set
Plain number is less than or equal to second threshold T2, then controls mobile unit and be moved to the next position X, with corresponding to the next position X
Metope is handled.
6. metope repair robot according to claim 1, which is characterized in that repairing unit is also used to calculate all areas
The size summation of A1 needs the zone number set { Al } is corresponding if size summation is greater than the first size threshold value K1
Metope recognisable image is sent to user, and obtains the feedback of user, and the operation of next step is carried out based on user feedback, if with
Family feedback is agreed to be repaired, then is repaired according to the repairing method of user feedback.
7. metope repair robot according to claim 6, which is characterized in that if size summation is less than the second size threshold
Value K2 then directly repairs each region A1.
8. metope repair robot according to claim 6, which is characterized in that if size summation is less than or equal to first greatly
Small threshold k 1 and be more than or equal to the second size threshold k 2, then select key area to be repaired.
9. metope repair robot according to claim 6, which is characterized in that wirelessly send image data
And obtain user feedback；Repairing method option is sent jointly into user, if user agrees to repair, can concentrated
It is selected in repairing method to be selected, if user does not select any repairing method and agrees to repairing, using default
Repairing method repaired.
10. metope repair robot according to claim 8, which is characterized in that the selection mode of key area is: selection
Region interconnected is as key area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434520.7A CN109008840A (en) | 2017-06-09 | 2017-06-09 | A kind of metope repair robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434520.7A CN109008840A (en) | 2017-06-09 | 2017-06-09 | A kind of metope repair robot |
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| CN109008840A true CN109008840A (en) | 2018-12-18 |
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| CN201710434520.7A Pending CN109008840A (en) | 2017-06-09 | 2017-06-09 | A kind of metope repair robot |
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| CN111136529A (en) * | 2020-02-05 | 2020-05-12 | 台州椒江行陈环保科技有限公司 | Building wall spot automatic cleaning equipment |
| CN113156830A (en) * | 2021-04-27 | 2021-07-23 | 重庆文理学院 | Intelligent household control system based on face recognition |
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