CN111657779A - Intelligent window cleaning robot based on machine vision and cleaning method thereof - Google Patents
Intelligent window cleaning robot based on machine vision and cleaning method thereof Download PDFInfo
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- CN111657779A CN111657779A CN202010615243.1A CN202010615243A CN111657779A CN 111657779 A CN111657779 A CN 111657779A CN 202010615243 A CN202010615243 A CN 202010615243A CN 111657779 A CN111657779 A CN 111657779A
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to an intelligent window wiping robot based on machine vision and a cleaning method thereof. According to the intelligent window wiping robot based on the machine vision, the stains on the glass can be accurately detected through the camera, and the stains are cleaned; the traveling route is reasonably planned according to the position of the stain, so that the stain cleaning operation can be completed quickly and efficiently, and the intelligent level is high; the glass cleaning agent is carried, so that the spraying can be controlled in real time, the cleaning capability is enhanced, and the resource utilization rate is also improved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to an intelligent window cleaning robot based on machine vision and a cleaning method thereof.
Background
In the existing automatic window cleaning robot, the robot cannot judge whether a glass area needs to be cleaned according to the dirt degree of glass, and only can fixedly clean the whole area of the glass or clean the glass according to a planned path. The method has low efficiency, low resource utilization rate and low intelligent degree.
Therefore, it is necessary to invent a window cleaning robot capable of autonomously judging whether a glass area needs to be cleaned or repeatedly cleaned and whether the glass area is cleaned completely.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, an intelligent window wiping robot based on machine vision and a cleaning method thereof are provided.
In order to achieve the technical effects, the invention adopts the technical scheme that: the utility model provides an intelligence window cleaning robot based on machine vision, includes the robot, the robot is placed on glass, and its bottom is provided with camera and contrast board, the shooting angle of camera is greater than the critical angle of total reflection of glass, the contrast board is located one side of camera and is on a parallel with glass, the robot still is provided with belt cleaning device.
Further, belt cleaning device includes cleaner storage tank and shower nozzle, the cleaner storage tank imbeds in the robot body, the shower nozzle sets up in the below of contrast board, and the cleaner storage tank is connected to the shower nozzle.
Further, the top of robot body is provided with the photovoltaic board.
Further, a polaroid is arranged in front of the lens of the camera.
The invention also provides a cleaning method of the intelligent window cleaning robot based on machine vision, which comprises the following steps:
s1, starting the robot body and placing the robot body on the glass;
s2, starting a camera to collect the glass surface image in real time;
s3, analyzing the real-time image through a glass stain recognition algorithm packaged in the robot body;
s4, planning the optimal path of the robot body according to the solved spot coordinates, enabling the robot body to walk to the spot, and starting a cleaning device for the spot to clean glass;
s5, after the cleaning is finished, stopping the cleaning function and rechecking the stains in the cleaned area;
s6, if the spot is clean, walking to the next area for spot detection; repeating cleaning the area if the stain is still present;
and S7, repeating the steps S3 to S6 until the cleaning of the whole glass is completed.
Further, in step S2, the camera is brought as close as possible to the surface of the glass, and low-angle imaging is performed.
Further, in step S3, analyzing the real-time image includes the following steps:
s31: analyzing the image acquired in real time by using a frequency domain analysis and morphology processing method;
s32: if the stains exist, the pixel coordinates of the stains are obtained, and meanwhile, the relative position of the stains is calculated according to the change of the forms and the positions of the stains among the multi-frame images collected in real time and the walking speed of the robot body by further combining with the coordinate system of the robot body;
s33: if no dirt exists, the robot body detects the next area.
Further, in step S4, a proper amount of cleaning agent is ejected from the cleaning agent tank through the head to clean the glass.
Compared with the prior art, the invention has the beneficial effects that:
1. the method has the advantages that the stains on the glass can be accurately detected through the camera, and the stains are cleaned;
2. the traveling route is reasonably planned according to the position of the stain, so that the stain cleaning operation can be completed quickly and efficiently, and the intelligent level is high;
3. the glass cleaning agent is carried, so that the spraying can be controlled in real time, the cleaning capability is enhanced, and the resource utilization rate is also improved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the embodiments, and it is apparent that the described embodiments are some, but not all embodiments of the present invention.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent window-cleaning robot based on machine vision according to the present invention.
The reference numbers and corresponding designations in the drawings are: 1. the robot comprises a robot body, 2. a camera, 3. a comparison board, 4. a cleaning device, 5. a photovoltaic board, 6. glass, 401. a cleaning agent storage tank and 402. a spray head.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example (b): as shown in fig. 1, the invention provides an intelligent window cleaning robot based on machine vision, which comprises a robot body 1, wherein the robot body 1 is placed on a glass 6, a camera 2 and a comparison plate 3 are arranged at the bottom of the robot body, the shooting angle of the camera 2 is larger than the total reflection critical angle of the glass 6, the comparison plate 3 is positioned on one side of the camera 2 and is parallel to the glass 6, and the robot body 1 is further provided with a cleaning device 4.
Wherein, belt cleaning device 4 includes cleaner storage tank 401 and shower nozzle 402, and cleaner storage tank 401 imbeds in the robot body 1, and shower nozzle 402 sets up the below of contrast board 3, and cleaner storage tank 401 is connected to shower nozzle 402. During cleaning, according to actual conditions, the glass 6 cleaning agent is supplied from the cleaning agent storage tank 401 and is sprayed to the stains through the spray head 402, so that the cleaning effect can be further improved.
As a preferable aspect of the present invention, a photovoltaic panel 5 is provided on the top of the robot body 1. The photovoltaic panel 5 can convert solar energy into electric energy, reduce the energy consumption of this intelligence window cleaning robot, prolong its duration.
Wherein, a polaroid is arranged in front of the lens of the camera 2. The polarizing plate may block the disturbance light to improve the photographing quality of the camera 2.
In this embodiment, the robot body 1 can walk on the glass 6, and the camera 2 is used for gathering 6 surface images of glass, here because the setting of shooting angle, can avoid shooing the refraction image on the glass 6 to the polaroid can obstruct disturbing light, guarantees that the formation of image is clear accurate, and contrast board 3 can form the projection at 6 planes of glass, further weakens the interference of external environment, and the spot on the outstanding glass 6 surface. After the stain image is identified and analyzed, the robot body 1 is moved to the stain position to be cleaned, the cleaning device 4 can be started for stubborn stains, and cleaning agents in the cleaning agent storage tank 401 are properly sprayed onto the stains through the spray nozzle 402, so that the stains can be dissolved, and the cleaning effect is improved.
The invention also provides a cleaning method of the intelligent window cleaning robot based on machine vision, which comprises the following steps:
s1, starting the robot body 1 and placing the robot body on the glass 6;
s2, starting the camera 2 to collect the surface image of the glass 6 in real time; wherein, the camera 2 is close to the surface of the glass 6 as much as possible, and low-angle shooting is carried out, so that the imaging range can be enlarged.
S3, analyzing the real-time image through a stain recognition algorithm of the glass 6 packaged in the robot body 1; wherein analyzing the real-time image comprises the steps of:
s31: analyzing the image acquired in real time by using a frequency domain analysis and morphology processing method;
s32: if the stains exist, the pixel coordinates of the stains are obtained, and meanwhile, the relative position of the stains is calculated according to the change of the forms and the positions of the stains among the multi-frame images collected in real time and the walking speed of the robot body 1 by combining the coordinate system of the robot body 1;
s33: if there is no stain, the robot main body 1 detects the next area.
S4, planning the optimal path of the robot body 1 according to the solved spot coordinates, enabling the robot body 1 to walk to the spot, and starting the cleaning device 4 for cleaning the glass 6 aiming at the spot; wherein, a proper amount of cleaning agent is sprayed from a cleaning agent storage tank 401 through a spray head 402 to clean the glass 6.
S5, after the cleaning is finished, stopping the cleaning function and rechecking the stains in the cleaned area;
s6, if the spot is clean, walking to the next area for spot detection; repeating cleaning the area if the stain is still present;
and S7, repeating the steps S3 to S6 until the whole glass 6 is cleaned.
The cleaning method can accurately detect the stains on the glass 6, performs targeted cleaning, and has high intelligent automation level; the path planning is carried out according to the detected relative position of the stain and the robot, so that the cleaning work can be efficiently and quickly carried out; the operation of the cleaning function can be reasonably controlled, the energy consumption is reduced, and the resource utilization rate is improved.
The present invention is not limited to the above-described embodiments, and various modifications made without inventive step from the above-described concept will fall within the scope of the present invention for those skilled in the art.
Claims (8)
1. The utility model provides an intelligence window cleaning robot based on machine vision, includes the robot, its characterized in that, the robot is placed on glass, and its bottom is provided with camera and contrast board, the shooting angle of camera is greater than the critical angle of total reflection of glass, the contrast board is located one side of camera and is on a parallel with glass, the robot still is provided with belt cleaning device.
2. The intelligent window-cleaning robot based on machine vision as claimed in claim 1, wherein the cleaning device comprises a cleaning agent storage tank and a spray head, the cleaning agent storage tank is embedded in the robot body, the spray head is arranged below the control plate, and the spray head is connected with the cleaning agent storage tank.
3. The machine-vision-based intelligent window-cleaning robot as claimed in claim 2, wherein a photovoltaic panel is disposed on the top of the robot body.
4. The machine-vision-based intelligent window-cleaning robot as claimed in any one of claims 1-3, wherein a polarizer is arranged in front of the lens of the camera.
5. The cleaning method of the intelligent window-cleaning robot based on machine vision as claimed in claim 4, characterized by comprising the following steps:
s1, starting the robot body and placing the robot body on the glass;
s2, starting a camera to collect the glass surface image in real time;
s3, analyzing the real-time image through a glass stain recognition algorithm packaged in the robot body;
s4, planning the optimal path of the robot body according to the solved spot coordinates, enabling the robot body to walk to the spot, and starting a cleaning device for the spot to clean glass;
s5, after the cleaning is finished, stopping the cleaning function and rechecking the stains in the cleaned area;
s6, if the spot is clean, walking to the next area for spot detection; repeating cleaning the area if the stain is still present;
and S7, repeating the steps S3 to S6 until the cleaning of the whole glass is completed.
6. The method of claim 5, wherein in step S2, the camera is close to the surface of the glass as much as possible, and the low-angle shooting is performed.
7. The cleaning method of the intelligent window-cleaning robot based on machine vision as claimed in claim 5, wherein the step of analyzing the real-time image in the step of S3 comprises the steps of:
s31: analyzing the image acquired in real time by using a frequency domain analysis and morphology processing method;
s32: if the stains exist, the pixel coordinates of the stains are obtained, and meanwhile, the relative position of the stains is calculated according to the change of the forms and the positions of the stains among the multi-frame images collected in real time and the walking speed of the robot body by further combining with the coordinate system of the robot body;
s33: if no dirt exists, the robot body detects the next area.
8. The cleaning method of the intelligent window-cleaning robot based on machine vision as claimed in claim 5, characterized in that in step S4, a proper amount of cleaning agent is sprayed from a cleaning agent storage tank through a spray head to clean the glass.
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| CN202010615243.1A CN111657779B (en) | 2020-06-30 | 2020-06-30 | Intelligent window cleaning robot based on machine vision and cleaning method thereof |
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Cited By (5)
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| CN112263179A (en) * | 2020-10-28 | 2021-01-26 | 江苏博宇建筑工程设备科技有限公司 | Window cleaning machine curtain wall detection device |
| CN113012149A (en) * | 2021-04-14 | 2021-06-22 | 北京铁道工程机电技术研究所股份有限公司 | Intelligent cleaning robot path planning method and system |
| CN113182246A (en) * | 2021-04-08 | 2021-07-30 | 广州大学 | Water-saving photovoltaic panel cleaning system and method based on machine vision |
| CN113425191A (en) * | 2021-06-28 | 2021-09-24 | 南京宣汉玻璃有限公司 | Intelligent detection cleaning equipment for stains on glass curtain wall |
| CN114589167A (en) * | 2022-03-30 | 2022-06-07 | 珠海格力电器股份有限公司 | Cleaning device and control method thereof |
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| CN111657779B (en) | 2023-10-10 |
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