CN109032122A - A kind of walking metope repair robot certainly - Google Patents
A kind of walking metope repair robot certainly Download PDFInfo
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- CN109032122A CN109032122A CN201710434556.5A CN201710434556A CN109032122A CN 109032122 A CN109032122 A CN 109032122A CN 201710434556 A CN201710434556 A CN 201710434556A CN 109032122 A CN109032122 A CN 109032122A
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- metope
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of from walking metope repair robot, 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, navigation elements communicate to connect between these units；The characteristics of metope cleans self-setting navigation routine should can be directed to from walking metope repair robot, setting walking starting position and navigation routine as unit of room, control robot moves between each workroom, it can select images acquisition locations and cleaning position, enable the effective transition of repairing effect, the clean number of the adjusting for the property of can adapt to, avoids transition cleaning and ineffective cleaning.
Description
[technical field]
The invention belongs to smart homes and computer field, more particularly to a kind of walking metope repair robot certainly.
[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 walking metope repair robot certainly, can be directed to the characteristics of metope cleans self-setting navigation routine, as unit of room
Setting walking starting position and navigation routine, control robot moves between each workroom, image can be selected to obtain
Position and cleaning position, enable the effective transition of repairing effect, and the clean number of the adjusting for the property of can adapt to avoids transition clear
Clean and ineffective cleaning.
[summary of the invention]
In order to solve the above problem in the prior art, the invention proposes a kind of from walking metope repair robot,
It is characterized in that, should include main unit, control unit, image acquisition unit, metope identification list from walking metope repair robot
Member, stain recognition unit, cleaning unit, repairing unit, storage unit, mobile unit, power supply unit, navigation elements, these lists
It is communicated to connect between member；
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；It is also used to control navigation elements and obtains all position X for needing to be moved to；
Navigation elements are used to obtain all position X for needing to be moved to, and carrying out image acquisition based on all position X can cover
All indoor walls are covered, and return to these positions X, wherein position X is spatial position.
Further, navigation module first divides the interior space according to room, and the open spaces such as parlor corridor are divided
For a room, referred to as open room；Walking starting position and track route are respectively provided with for each room.
Further, all indoor walls can be covered by carrying out image acquisition based on all position X.
Further, for each room, walking road is set from walking starting position along metope direction clockwise
Line, position of the position X apart from front on track route is pre-determined distance Distance, which can obtain according to image
The picture acquisition power of device is taken to be adjusted.
Further, for open room, walking starting position is set by entry door position.
Further, navigation module needs to detect to the barrier situation on track route, is based on the barrier situation tune
Full line walk in predeterminated position, record adjustment variation distance for image acquisition unit carry out image acquisition when distance make
Corresponding adjustment.
Further, position X is the specific position on track route, and robot is based on position progress image and obtains
It takes, the selection of position X needs to consider the acquisition capability of image acquisition unit, is based on position X, and image acquisition unit can obtain
The metope in the metope direction of the highest default size of quality, which is debated, knows image CX.
It further, is overlapped, overlapping model between two metope recognisable images that two adjacent position X are obtained
Enclosing size is fixed value.
Further, the transition effect for being sized such that trans-regional reparation of the overlapping range can be increased more preferably.
Further, control unit is for noting down to the cleaning time of same position, if the cleaning to same position
Number is greater than the first cleaning time threshold value TC1, then controls mobile unit and be moved to the next position X, with corresponding to the next position X
Metope handled
The beneficial effect comprise that can be for metope cleaning the characteristics of self-setting navigation routine, is with room
Unit setting walking starting position and navigation routine, control robot moves between each workroom, can select image
Position and cleaning position are obtained, enables the effective transition of repairing effect, the clean number of the adjusting for the property of can adapt to avoided
Cross cleaning and ineffective cleaning.
[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 from walking 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 one kind applied by the present invention from walking metope repair robot.The robot includes
Main unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, repairing unit, is deposited at control unit
Storage unit, mobile unit, power supply unit, navigation elements 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 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；
Navigation elements are used to obtain all position X for needing to be moved to, and carrying out image acquisition based on all position X can cover
All indoor walls are covered, and return to these positions X, wherein position X is spatial position；Navigation module first presses the interior space
It is divided according to room, the open spaces such as parlor corridor is divided into a room, referred to as open room；Each room is respectively provided with
Track route, row is arranged along metope direction from starting position for each room in walking starting position and track route
Walking position of the position X apart from front on route is pre-determined distance Distance, which can obtain according to image and fill
The picture acquisition power set is adjusted；For open room, walking starting position is set by entry door position；Navigation module
It needs to detect to the barrier situation on track route, the predeterminated position in walking road, record is adjusted based on the barrier situation
Adjustment variation distance makees corresponding adjustment for obtaining distance to image；
Position X is the specific position on track route, and robot is based on the position and carries out image acquisition, position X's
The acquisition capability for needing to consider image acquisition unit is chosen, is based on position X, it is highest that image acquisition unit can obtain quality
The metope in the metope direction of default size, which is debated, knows image CX；Preferred: two metopes that two adjacent position X are obtained recognize figure
As between be it is overlapped, overlapping range size is fixed value；It is trans-regional that being sized such that for the overlapping range can be increased
The transition effect of reparation is more preferably；
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 control navigation elements obtain all position X for needing to be moved to, and carry 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 }；If element number in new zone number set is more than or equal to the
One threshold value T1 then sends repairing message and gives repairing unit, while sending position X and associated new zone number set
{Al}；If cleaning time is greater than the first cleaning time threshold value TC1, controls mobile unit and be moved to the next position X, to this
The corresponding metope of the next position X is handled；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 from walking metope repair robot, which is characterized in that should include from walking metope repair robot main unit,
Control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, repairing unit, storage unit, shifting
Moving cell, power supply unit, navigation elements 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 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；It is also used to control navigation elements and obtains all position X for needing to be moved to；
Navigation elements are used to obtain all position X for needing to be moved to, and carrying out image acquisition based on all position X can cover
All indoor walls, and return to these positions X, wherein position X is spatial position.
2. according to claim 1 from walking metope repair robot, which is characterized in that navigation module is first by Interior Space
Between divided according to room, the open spaces such as parlor corridor are divided into a room, referred to as open room；It is equal for each room
Setting walking starting position and track route.
3. according to claim 1 from walking metope repair robot, which is characterized in that carry out figure based on all position X
All indoor walls can be covered as obtaining.
4. according to claim 1 from walking metope repair robot, which is characterized in that for each room, from row
It walks and track route is set clockwise along metope direction at starting position, position of the position X apart from front on track route is
Pre-determined distance Distance, the pre-determined distance can be adjusted according to the picture acquisition power of image acquiring device.
5. according to claim 4 from walking metope repair robot, which is characterized in that for open room, will register one's residence
Door position is set as walking starting position.
6. according to claim 4 from walking metope repair robot, which is characterized in that navigation module needs to detect to row
The barrier situation on route is walked, the predeterminated position in walking road, record adjustment variation distance are adjusted based on the barrier situation
Make corresponding adjustment for distance when carrying out image acquisition to image acquisition unit.
7. according to claim 2 from walking metope repair robot, which is characterized in that position X is to be located at track route
On specific position, robot is based on the position and carries out image acquisition, and the selection of position X needs to consider obtaining for image acquisition unit
Ability is taken, position X is based on, the metope that image acquisition unit can obtain the metope direction of the highest default size of quality debates knowledge
Image CX.
8. according to claim 7 from walking metope repair robot, which is characterized in that two adjacent position X are obtained
Two metope recognisable images between be it is overlapped, overlapping range size be fixed value.
9. according to claim 7 from walking metope repair robot, which is characterized in that the overlapping range can be increased
It is sized such that the transition effect of trans-regional reparation more preferably.
10. according to claim 1 from walking metope repair robot, which is characterized in that control unit is used for same
The cleaning time of position is noted down, if the cleaning time to same position is greater than the first cleaning time threshold value TC1, controls shifting
Moving cell is moved to the next position X, to handle the corresponding metope of the next position X.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434556.5A CN109032122A (en) | 2017-06-09 | 2017-06-09 | A kind of walking metope repair robot certainly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434556.5A CN109032122A (en) | 2017-06-09 | 2017-06-09 | A kind of walking metope repair robot certainly |
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| Publication Number | Publication Date |
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| CN109032122A true CN109032122A (en) | 2018-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710434556.5A Pending CN109032122A (en) | 2017-06-09 | 2017-06-09 | A kind of walking metope repair robot certainly |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109778694A (en) * | 2019-03-19 | 2019-05-21 | 重庆大学 | Bridge cable tower structure on-line checking reparation climbing robot |
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2017
- 2017-06-09 CN CN201710434556.5A patent/CN109032122A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109778694A (en) * | 2019-03-19 | 2019-05-21 | 重庆大学 | Bridge cable tower structure on-line checking reparation climbing robot |
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