CN109015663A - A kind of automatic plane clean robot - Google Patents
A kind of automatic plane clean robot Download PDFInfo
- Publication number
- CN109015663A CN109015663A CN201710437390.2A CN201710437390A CN109015663A CN 109015663 A CN109015663 A CN 109015663A CN 201710437390 A CN201710437390 A CN 201710437390A CN 109015663 A CN109015663 A CN 109015663A
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- Prior art keywords
- metope
- image
- unit
- cleaning
- stain
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of automatic plane clean robot, which includes main unit, control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, storage unit, mobile unit, power supply unit；Robot can actively obtain the metope pattern in each room of owner with oneself, automatically identify the presence of metope stain, after cleaning, it can automatically detect clean effect, it is constantly cleaned in the case where determining underproof situation, until meeting the requirements, so as to easily help owner to carry out metope cleaning, artificial participation is not needed, house worker is really liberated.
Description
[technical field]
The invention belongs to smart home and computer field more particularly to a kind of intelligent domestic service 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 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, especially there is the family of child, metope tended not to as ground it is dirty quickly, child is frequent
Drawing being write on metope, being reeled, therefore, the cleaning reparation for metope is also extremely urgent, for this purpose, the present invention proposes
A kind of automatic plane clean robot can obtain the metope pattern in each room of owner with oneself, automatically identify metope dirt
The presence of mark can automatically detect clean effect after cleaning, constantly clean in the case where determining underproof situation,
Until meeting the requirements, so as to easily help owner to carry out metope cleaning, artificial participation is not needed.
[summary of the invention]
In order to solve the above problem in the prior art, the invention proposes a kind of automatic plane clean robots, special
Sign is, 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；
Mobile unit is for being moved to designated position under the control of the control unit；
Storage unit is for storing all intermediate data；
Power supply is used to power to said modules.
It further, further include metope sample image acquiring unit, metope sample image acquiring unit is each for obtaining
The metope sample image in room.
Further, the metope sample image in each room is obtained specifically, carrying out wall to each room respectively one by one
The acquisition of face sample image.
Further, for room R1, the center position of R1 in room carries out image acquisition to four metope directions,
Four metope image IM1-IM4 are obtained, each metope image are divided into the multiple regions image of fixed size, to each area
Area image calculates its pixel value mean value, and each region is clustered according to its pixel value mean value, calculates the area in each cluster
The number of area image determines that the corresponding area image in region in the most cluster of areal is metope sample image.
Further, from the most cluster of areal the corresponding area image in an optional region as metope sample
Image.
Further, the area image where the mainstream color in each room is found as metope sample image.
Further, due to disposably to obtain the image of entire metope in the acquisition process of metope sample image,
The higher image acquiring device of pixel need to be selected to carry out image acquisition.
Further, metope sample image is also obtained by user or is specified.
Further, user inputs metope sample image directly in robot.
Further, user opens metope by way of the button on robot body's unit or by touch-control
Sample image obtains, and starting image acquisition unit carries out the acquisition of metope sample image.
The beneficial effect comprise that automatic plane clean robot can actively obtain the metope in each room of owner
Pattern automatically identifies the presence of metope stain, after cleaning, can automatically detect clean effect, is determining not
It is constantly cleaned in the case where qualification, until meeting the requirements, so as to easily help owner to carry out metope cleaning, no
Artificial participation is needed, house worker is really liberated.
[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 automatic plane clean 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 automatic plane clean robots applied by the present invention.The robot includes master
Body unit, control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, storage unit, movement
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 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；
Robot further includes metope sample image acquiring unit, and metope sample image acquiring unit is for obtaining each room
Metope sample image；Specifically, the acquisition for carrying out metope sample image to each room respectively one by one；For room
R1, the center position of R1 in room carry out image acquisition to four metope directions, obtain four metope image IM1-IM4, will
Each metope image is divided into the multiple regions image of fixed size, and the area image less than an area size is given
Give up, to each area image, calculate its pixel value mean value, each region is clustered according to its pixel value mean value, clusters
Afterwards in each cluster the pixel value mean value in region very close to calculating the number of the area image in each cluster, zoning
The pixel value mean of mean of all areas in the largest number of clusters, by most each of the cluster of the areal
The pixel value mean value in region and each area pixel value mean of mean are made comparisons, by pixel value mean value closest to the average value
Area image be determined as the metope sample image of room R1；
Since the metope in each room can generally furnish furniture or metope picture etc., simple carries out metope
Image acquisition can not obtain correct metope sample image；Further, since modern's household color is relatively abundanter, possible metope
It is not a kind of color, but decorative pattern, therefore, the pixel value of metope is not a fixed value, but is come from wall section
It sees, its pixel mean value of each wall section is roughly the same；In addition, the wall color in each room may be also different, therefore
It needs to obtain each room respectively its metope sample image；Although each metope may put color and metope is inconsistent
Article, but under normal circumstances, wall color is the mainstream in institute's colored；It would therefore be desirable to find the mainstream color
The image-region at place is as metope sample image；
Due in the acquisition process of metope sample image, needing disposably to obtain the image of entire metope, therefore need
The higher image acquiring device of pixel is wanted to carry out image acquisition；
Metope sample image can also be obtained or be specified by user, and user can input metope sample directly in robot
This image；User can be opened by way of button or touch-control metope sample image acquisition, starting image acquisition unit into
The acquisition of row metope sample image；
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 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 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 }, is calculated the cleaning according to formula (2) and is completed image collection
Each region CAl in { CAl } and the similarity S between metope sample image；If S > ST4, judge that region Al's is clear
Clean completion is unqualified, records zone number Al in new stain zone number set, otherwise, judges the cleaning of region Al
It is qualified to complete, and does not record the zone number；After the completion of all cleaning the region completed in image collection { CAl } and judging, such as
Element number in the new zone number set of fruit is more than or equal to 1, then sends cleaning message again to cleaning unit, send simultaneously
Position X and associated new stain zone number set { Al }；Preferably, ST4 < ST3；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；It is moved to room center
The acquisition of position progress metope directional image；
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 automatic plane clean robot, which is characterized in that the robot includes that main unit, control unit, image obtain
Take unit, metope recognition unit, stain recognition unit, cleaning unit, storage unit, mobile unit, power supply unit, these units
Between communicate to connect；
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；
Mobile unit is for being moved to designated position under the control of the control unit；
Storage unit is for storing all intermediate data；
Power supply is used to power to said modules.
2. automatic plane clean robot according to claim 1, which is characterized in that further include that metope sample image obtains
Unit, metope sample image acquiring unit are used to obtain the metope sample image in each room.
3. automatic plane clean robot according to claim 2, which is characterized in that obtain the metope sample in each room
Image to each room specifically, carry out the acquisition of metope sample image respectively one by one.
4. automatic plane clean robot according to claim 2, which is characterized in that for room R1, the R1 in room
Center position carries out image acquisition to four metope directions, four metope image IM1-IM4 is obtained, by each metope image
Be divided into the multiple regions image of fixed size, to each area image, calculate its pixel value mean value, by each region according to
Its pixel value mean value is clustered, and the number of the area image in each cluster is calculated, and is determined in the most cluster of areal
The corresponding area image in region be metope sample image.
5. automatic plane clean robot according to claim 4, which is characterized in that in the cluster most from areal
The corresponding area image in an optional region is as metope sample image.
6. automatic plane clean robot according to claim 2, which is characterized in that find the mainstream color in each room
Area image where color is as metope sample image.
7. automatic plane clean robot according to claim 2, which is characterized in that due to obtaining in metope sample image
During taking, the image of entire metope is disposably obtained, the higher image acquiring device of pixel need to be selected to carry out image and obtained
It takes.
8. automatic plane clean robot according to claim 2, which is characterized in that metope sample image is also obtained by user
It takes or specifies.
9. automatic plane clean robot according to claim 8, which is characterized in that user directly inputs in robot
Metope sample image.
10. automatic plane clean robot according to claim 8, which is characterized in that user is by being located at robot master
Button on body unit opens the acquisition of metope sample image by way of touch-control, and starting image acquisition unit carries out metope
The acquisition of sample image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710437390.2A CN109015663A (en) | 2017-06-09 | 2017-06-09 | A kind of automatic plane clean robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710437390.2A CN109015663A (en) | 2017-06-09 | 2017-06-09 | A kind of automatic plane clean robot |
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