CN111319052A - Multi-stain cleaning robot and moving path control method based on same - Google Patents
Multi-stain cleaning robot and moving path control method based on same Download PDFInfo
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- CN111319052A CN111319052A CN202010131975.3A CN202010131975A CN111319052A CN 111319052 A CN111319052 A CN 111319052A CN 202010131975 A CN202010131975 A CN 202010131975A CN 111319052 A CN111319052 A CN 111319052A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F43/00—Dry-cleaning apparatus or methods using volatile solvents
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0253—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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- 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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Textile Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-stain cleaning robot and a moving path control method based on the same, compared with the prior art, based on hardware support of a mechanical arm, a camera device and a servo system, the robot can provide good mechanical dry cleaning conditions, compared with manual cleaning, the efficiency is more optimized, particularly, each stain point is scanned by the camera device in sequence, and the relative distance of each stain point is sequenced by the servo system, so that the distance of each stain point can be clearly understood and arranged, the mechanical arm can be conveniently driven to respectively reach each stain point in sequence to realize dry cleaning, any stain point can not be omitted, the path effectiveness is also ensured, and the mechanical arm is prevented from generating redundant paths. Therefore, the invention has reasonable design and intelligent control, can stably and quickly dry-clean and clean a plurality of stains simultaneously, and improves the efficiency of dry-cleaning clothes.
Description
Technical Field
The invention relates to the field of smart home, in particular to a multi-spot cleaning robot and a moving path control method based on the same.
Background
The existing dry cleaning of clothes generally adopts a manual cleaning mode, the process is tedious and time-consuming, people need to spend a lot of time to check clothes when tiny stains appear on the clothes, the precious time of people can be spent, the situation that the stains are possibly ignored still exists, the problem is that the existing dry cleaning mode has a serious problem, namely the efficiency is relatively low, and the clothes washing quality can not be ensured.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a multi-spot cleaning robot and a moving path control method based on the same, which can clean a plurality of spots simultaneously and improve efficiency of dry-cleaning laundry.
In order to make up for the defects of the prior art, the embodiment of the invention adopts the following technical scheme:
a multi-spot cleaning robot comprising:
a mechanical arm; and
the camera device can shoot images of each stain point in sequence; and
and the servo system can drive the mechanical arm to move to the corresponding spot point and is connected with the mechanical arm.
Further, the camera device adopts a camera, an electronic camera or a digital video camera.
Furthermore, the servo system adopts an upper computer or a handheld mobile device.
The moving path control method of the multi-stain cleaning robot comprises the following steps:
s1, sequentially scanning each dirty point through the camera device, and recording the coordinate of each dirty point to the servo system;
s2, calculating the distance between each dirty point and the initial position of the camera device, recording the distances into an array1 in a summary manner, and sequencing disordered elements in the array1 by adopting a bubble sequencing algorithm, so that the element array1[0] with the minimum sequence number is written into an array sport and recorded as a first motion point;
s3, replacing the initial position of the camera device with the first motion point, executing step S2 again, writing the element array2[0] with the minimum sequence number in the array2 into the array sport, recording as the second motion point, and so on, and finally writing the element array (n) 0 with the minimum sequence number in the array (n) into the array sport, recording as the nth motion point;
and S4, sequentially enabling the mechanical arms to reach the corresponding stain points for cleaning according to the sequence from 1 to n.
One or more technical schemes provided in the embodiment of the invention have at least the following beneficial effects: based on the hardware support of the mechanical arm, the camera device and the servo system, good mechanical dry cleaning conditions can be provided, compared with manual cleaning, the efficiency is optimized, particularly, each stain point is scanned sequentially through the camera device, and the relative distances of the stain points are sequenced through the servo system, so that the distance of each stain point can be clearly known and arranged, the mechanical arm can be conveniently driven to reach each stain point in sequence to realize dry cleaning, any stain point can not be omitted, the path effectiveness is guaranteed, and the mechanical arm is prevented from generating redundant paths. Therefore, the invention has reasonable design and intelligent control, can stably and quickly dry-clean and clean a plurality of stains simultaneously, and improves the efficiency of dry-cleaning clothes.
Further, the mode of scanning each stain by the camera device is from top to bottom.
Further, in step S3, sorting the unordered elements in the array1 by using a bubble sorting algorithm, including:
scanning the first element to the last element in the array1, comparing the two adjacent elements in sequence, and making the smaller element in the two elements be arranged in the previous position every time the two elements are compared, and so on, and finally finishing the sorting of all the elements in the array 1.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The following description of the preferred embodiments of the present invention will be made in conjunction with the accompanying drawings.
FIG. 1 is a block schematic diagram of the construction of a multi-spot cleaning robot according to an embodiment of the present invention;
FIG. 2 is a schematic control flow chart of a method for controlling a moving path of a multi-spot cleaning robot according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating steps of a bubble sorting algorithm adopted in the method for controlling the moving path of the multi-spot cleaning robot according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in system schematics, with logical sequences shown in flowcharts, in some cases the steps shown or described may be performed in a different order than the block divisions in the systems, or in the flowcharts.
The embodiments of the present invention will be further explained with reference to the drawings.
Referring to fig. 1, a multi-spot cleaning robot includes:
a robot arm 300; and
an image pickup device 100 capable of sequentially picking up an image of each spot; and
the servo system 200 can drive the robot 300 to move to a corresponding spot, and is connected with the robot 300.
The moving path control method of the multi-stain cleaning robot comprises the following steps:
s1, sequentially scanning each dirty point through the camera device 100, and recording the coordinates of each dirty point into the servo system 200;
s2, calculating the distance between each dirty point and the initial position of the camera device 100, recording the distances into an array1 in a summary manner, and sequencing disordered elements in the array1 by adopting a bubble sequencing algorithm, so that the element array1[0] with the minimum sequence number is written into an array sport and recorded as a first motion point;
s3, replacing the initial position of the image capturing apparatus 100 with the first motion point, and executing step S2 again, thereby writing the element array2[0] with the smallest sequence number in the array2 into the array sport, and recording as the second motion point, and so on, and finally writing the element array (n) 0 with the smallest sequence number in the array (n) into the array sport, and recording as the nth motion point;
s4, sequentially bringing the robot arm 300 to the corresponding spot for cleaning in the order of 1 to n.
In this embodiment, based on the hardware support of the mechanical arm 300, the camera device 100 and the servo system 200, a good mechanical dry-cleaning condition can be provided, and compared with manual cleaning, the efficiency is more optimized, especially, each stain point is sequentially scanned by the camera device 100, and the relative distances of the stain points are sequenced by the servo system 200, so that the distances of the stain points can be clearly known and arranged, the mechanical arm 300 can conveniently reach each stain point in sequence to realize dry-cleaning, neither any stain point can be omitted, the path validity is also ensured, and the mechanical arm 300 is prevented from generating redundant paths; moreover, the mode of array recording and sorting is adopted, so that the intelligent robot is more intelligent and can respond and process the distance data of the stain points in time, and the control mechanical arm 300 is more intelligent and effective. Therefore, the invention has reasonable design and intelligent control, can stably and quickly dry-clean and clean a plurality of stains simultaneously, and improves the efficiency of dry-cleaning clothes.
Specifically, referring to fig. 2, the method comprises the following steps: the initial position of the imaging device 100, that is, the origin (X0, Y0) is first determined, the imaging device 100 scans and views stains sequentially, the coordinates of the scanned stains are recorded as (X1, Y1), (X2, Y2) … (Xn, Yn), and the distance from each stain point to the origin is sequentially calculated in the servo system 200
The minimum Dmin is screened out by a bubble sorting method to be determined as a first motion point which is marked as a number 1, and the distance from the first motion point to other stain points is calculated to obtain
And then screening out the minimum Dmin through sorting to determine the minimum Dmin as a second motion point, marking the second motion point as a number 2, and marking the rest stain points by analogy until Dn. Finally, the mechanical arm 300 is sequentially driven to reach different dirt points according to the sequence of the movement points from 1 to n, so that the dry cleaning of the dirt points can be respectively realized, and the device is very convenient and reliable.
Preferably, the camera device 100 is a camera, an electronic camera or a digital video camera, and the servo system 200 is an upper computer or a handheld mobile device. In this embodiment, the selection of the camera device 100 is not limited, and only needs to be connected with the servo system 200, so as to ensure that the image information can be uploaded stably, the servo system 200 is controlled by an upper computer, the response is timely, and a user can know the motion condition of the mechanical arm 300 timely.
Furthermore, the image capturing device 100 scans each stain from top to bottom. Specifically, dirt is scanned and checked sequentially from top to bottom through the image pickup device 100, a panoramic range covered by the clothes can be scanned sequentially, missing of dirt points can be prevented, and the scanning effect is better.
Further, referring to fig. 3, in step S3, sorting the unordered elements in the array1 by using a bubble sorting algorithm includes:
scanning the first element to the last element in the array1, comparing the two adjacent elements in sequence, and making the smaller element in the two elements be arranged in the previous position every time the two elements are compared, and so on, and finally finishing the sorting of all the elements in the array 1.
Specifically, the bubble sorting algorithm can reasonably compare and sort each element in the array1, and the element with the minimum sequence number can be stably found out from the array1, so that the data screening requirement is met.
While the preferred embodiments and basic principles of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the embodiments, but is intended to cover various modifications, equivalents and alternatives falling within the scope of the invention as claimed.
Claims (6)
1. A multi-spot cleaning robot, comprising:
a mechanical arm; and
the camera device can shoot images of each stain point in sequence; and
and the servo system can drive the mechanical arm to move to the corresponding spot point and is connected with the mechanical arm.
2. The multi-stain cleaning robot of claim 1, comprising: the camera device adopts a camera, an electronic camera or a digital video camera.
3. The multi-stain cleaning robot according to claim 1 or 2, comprising: the servo system adopts an upper computer or a handheld mobile device.
4. The method for controlling a moving path of a multi-spot cleaning robot according to any one of claims 1 to 3, comprising the steps of:
s1, sequentially scanning each dirty point through the camera device, and recording the coordinate of each dirty point to the servo system;
s2, calculating the distance between each dirty point and the initial position of the camera device, recording the distances into an array1 in a summary manner, and sequencing disordered elements in the array1 by adopting a bubble sequencing algorithm, so that the element array1[0] with the minimum sequence number is written into an array sport and recorded as a first motion point;
s3, replacing the initial position of the camera device with the first motion point, executing step S2 again, writing the element array2[0] with the minimum sequence number in the array2 into the array sport, recording as the second motion point, and so on, and finally writing the element array (n) 0 with the minimum sequence number in the array (n) into the array sport, recording as the nth motion point;
and S4, sequentially enabling the mechanical arms to reach the corresponding stain points for cleaning according to the sequence from 1 to n.
5. The method according to claim 4, wherein the scanning of each stain by the camera is from top to bottom.
6. The multi-stain cleaning robot moving path control method according to claim 4, wherein in the step S3, the step of sorting the disordered elements in the array1 by using a bubble sorting algorithm comprises the steps of:
scanning the first element to the last element in the array1, comparing the two adjacent elements in sequence, and making the smaller element in the two elements be arranged in the previous position every time the two elements are compared, and so on, and finally finishing the sorting of all the elements in the array 1.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010131975.3A CN111319052A (en) | 2020-02-28 | 2020-02-28 | Multi-stain cleaning robot and moving path control method based on same |
| PCT/CN2020/112545 WO2021169221A1 (en) | 2020-02-28 | 2020-08-31 | Multi-stain cleaning robot and motion path control method based on multi-stain cleaning robot |
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| CN202010131975.3A CN111319052A (en) | 2020-02-28 | 2020-02-28 | Multi-stain cleaning robot and moving path control method based on same |
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| CN111319052A true CN111319052A (en) | 2020-06-23 |
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| CN202010131975.3A Pending CN111319052A (en) | 2020-02-28 | 2020-02-28 | Multi-stain cleaning robot and moving path control method based on same |
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| WO (1) | WO2021169221A1 (en) |
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| CN112626800A (en) * | 2020-12-11 | 2021-04-09 | 孟少凯 | Intelligent washing method and device and intelligent washing machine |
| WO2021169221A1 (en) * | 2020-02-28 | 2021-09-02 | 五邑大学 | Multi-stain cleaning robot and motion path control method based on multi-stain cleaning robot |
| CN113796787A (en) * | 2021-09-26 | 2021-12-17 | 复旦大学 | Wiping cleaning robot and control method thereof |
| CN117314142A (en) * | 2023-09-15 | 2023-12-29 | 中国人民解放军海军工程大学 | Product line process sequence optimization method |
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| CN112626800A (en) * | 2020-12-11 | 2021-04-09 | 孟少凯 | Intelligent washing method and device and intelligent washing machine |
| CN113796787A (en) * | 2021-09-26 | 2021-12-17 | 复旦大学 | Wiping cleaning robot and control method thereof |
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| WO2021169221A1 (en) | 2021-09-02 |
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