CN114815822A - Intelligent cleaning system and method for road edge detection - Google Patents
Intelligent cleaning system and method for road edge detection Download PDFInfo
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- CN114815822A CN114815822A CN202210412251.5A CN202210412251A CN114815822A CN 114815822 A CN114815822 A CN 114815822A CN 202210412251 A CN202210412251 A CN 202210412251A CN 114815822 A CN114815822 A CN 114815822A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 137
- 238000003708 edge detection Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 134
- 230000000694 effects Effects 0.000 claims abstract description 9
- 239000000428 dust Substances 0.000 claims description 46
- 238000007781 pre-processing Methods 0.000 claims description 19
- 239000002245 particle Substances 0.000 claims description 18
- 238000001914 filtration Methods 0.000 claims description 12
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- 230000007797 corrosion Effects 0.000 claims description 6
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- 230000004888 barrier function Effects 0.000 claims description 2
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- 238000010408 sweeping Methods 0.000 claims 6
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- G—PHYSICS
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- 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
- 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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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
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- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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Abstract
The invention discloses an intelligent cleaning system and method for road edge detection, which relate to the technical field of road cleaning and comprise a main control CPU, a cleaning robot, a garbage recognition system and a garbage disposal system, wherein the garbage recognition system is used for intelligently recognizing garbage on a road, and the cleaning robot enables the garbage disposal system to clean the garbage on the road after recognition. According to the intelligent cleaning system and method for detecting the road edge, the images of the garbage are collected in real time, the collected images are preprocessed and identified, the garbage information of the road surface can be accurately judged, then the garbage is cleaned, resources of the cleaning robot are reasonably utilized, the road cleaning effect is improved, obstacles can be reasonably avoided in cleaning, the garbage can be automatically classified and stored after the cleaning is finished, and the intelligence of the cleaning robot is improved.
Description
Technical Field
The invention relates to the technical field of road cleaning, in particular to an intelligent cleaning system and method for road edge detection.
Background
Road rubbish receives more and more attention as a part of environmental problem, has appeared an intelligence in the existing market and has cleaned the robot, and it can replace the manual work to go to clean the rubbish on road surface, has not only improved the efficiency that the road surface cleaned, but also has reduced artificial intensity of labour.
However, the existing intelligent road cleaning robot is used for cleaning without targets during cleaning, so that the robot is sometimes used for cleaning on a clean road surface, but is not used for cleaning a road surface with garbage, and resources of the robot are wasted.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an intelligent cleaning system and method for detecting road edges, which solve the problem that the resources of the robot are wasted because the robot is sometimes cleaned on a clean road surface and the road surface with garbage is not cleaned because the existing intelligent cleaning robot for the road is cleaned without targets.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an intelligent cleaning system of road edge detection, includes master control CPU and cleans machine people, rubbish identification system and refuse treatment system, rubbish identification system is used for carrying out intelligent recognition to the rubbish of road, cleans the machine people after the discernment and makes refuse treatment system clean the processing to road rubbish.
The garbage recognition system comprises an image acquisition module, an image preprocessing module, a feature extraction module, a matching recognition module, a sample library and a result output module, wherein the image acquisition module acquires garbage images on a road in real time, the acquired image preprocessing module performs image filtering processing, image enhancement processing and image edge processing on the images, the processed feature extraction module extracts the characteristics of the acquired images, and the matching recognition module identifies and compares garbage in the sample library with the acquired images to judge whether the garbage is garbage or not.
Furthermore, the image acquisition module acquires road garbage images through a double-sided camera, and the double-sided camera is arranged at the front, back, left and right positions of the cleaning robot to acquire all-around garbage images on the ground.
Further, when the image preprocessing module performs image filtering processing, image enhancement processing and image edge processing on an image, high-frequency components in the image are firstly removed through a low-pass filter to achieve a noise reduction effect, then high-frequency component blocking is performed by taking an average value of partial regions of the image, secondary filtering processing is performed on the image, then a gray level histogram of the image is changed through a gray level mapping function to ensure that each gray level has the same pixel points, and finally whether the edge is accurate is analyzed by utilizing the characteristic that a secondary derivative at the edge is zero, if not, image thinning processing is performed again to find a skeleton structure of the image, redundant information is removed, and image preprocessing work is completed.
Furthermore, when the matching identification module identifies the collected garbage image, firstly, the influence of fine particles in the binary image is eliminated by utilizing open operation, then, the communication domain with the largest area is calculated, then, the cavity in the garbage image is filled by utilizing closed operation, and finally, the accuracy of image edge detection is improved by utilizing morphological corrosion treatment, so that the type of garbage is accurately judged.
Further, the garbage disposal system is including cleaning traveling system and automatic cleaning system, dust fall sprinkler system, cleaning warning system, cleaning classification system, information receiving module, ultrasonic sensing module and PM2.5 sensing module, ultrasonic sensing module is used for detecting the distance between cleaning robot and the rubbish and the distance between the barrier, PM2.5 sensing module is used for carrying out real-time detection to the dust that cleans the in-process and produces, presets the scope value of an aerial dust, then can judge whether aerial dust particle exceeds standard according to the scope value of presetting, and information receiving module receives the information after detecting.
Further, when the distance of the garbage is detected by the ultrasonic sensing module, the cleaning walking system can enable the cleaning robot to automatically walk to the position of the garbage, then the automatic cleaning system cleans the garbage on the ground, when the monitored distance is the distance of the obstacle, the cleaning warning system can judge the characteristics of the obstacle, if the obstacle is an inanimate characteristic body, the cleaning walking system can enable the cleaning robot to automatically turn to avoid, if the obstacle is a animate characteristic body, the cleaning warning system can send out voice warning to enable the obstacle to automatically leave, the voice warning content is preset in advance, otherwise, the cleaning walking system can enable the cleaning robot to turn to avoid collision, when the PM2.5 sensing module detects that the data value of dust particles in the air exceeds the preset value, the dust fall spraying system can automatically spray water to the air, and the water is sprayed in an atomized form, dust falling work is carried out on dust particles in the air, and after ground garbage is cleaned, the garbage can be automatically classified by the cleaning and classifying system.
Furthermore, when the cleaning and classifying system classifies the garbage, the cleaning robot is provided with a recyclable garbage area and an unrecoverable garbage area, and then the garbage is classified and put into the corresponding garbage recycling area by adopting a manipulator mode.
Further, an intelligent cleaning method for road edge detection comprises the following steps:
s1, firstly, the image collection module collects the garbage image on the road in real time, the collected image pre-processing module firstly eliminates the high-frequency component in the image through a low-pass filter to make it reach the noise reduction effect, secondly, the image is processed by secondary filtering through taking the average value of partial area of the image, secondly, the gray histogram of the image is changed through the gray mapping function to ensure that each gray has the same pixel point, finally, the characteristic that the secondary derivative at the edge is zero is utilized to analyze whether the edge is accurate or not, if not, the image thinning processing is carried out to find the skeleton structure of the image, the redundant information is removed to finish the pre-processing work of the image, the processed characteristic extraction module extracts the characteristics of the collected image, the matching identification module identifies and compares the garbage in the sample base with the collected image, firstly, the open operation is utilized to eliminate the influence of the fine particles in the binary image, then calculating a maximum-area connected domain, filling a cavity in the garbage image by using closed operation, and finally improving the accuracy of image edge detection by using morphological corrosion treatment so as to accurately judge the type of garbage;
s2, detecting the distance between the cleaning robot and the garbage and the distance between obstacles by the ultrasonic sensing module, detecting dust generated in the cleaning process in real time by the PM2.5 sensing module, presetting a range value of dust in the air, judging whether dust particles in the air exceed the standard according to the preset range value, and receiving information by the information receiving module after detection;
s3, when the distance of the garbage is detected by the ultrasonic sensing module, the cleaning walking system enables the cleaning robot to automatically walk to the position of the garbage, then the automatic cleaning system cleans the garbage on the ground, when the monitored distance is the distance of the obstacle, the cleaning warning system can judge the characteristics of the obstacle, if the obstacle is an inanimate characteristic body, the cleaning walking system enables the cleaning robot to automatically turn to avoid, if the obstacle is a animate characteristic body, the cleaning warning system can send out voice warning to enable the obstacle to automatically leave, the voice warning content is preset in advance, otherwise, the cleaning walking system enables the cleaning robot to turn to avoid collision, when the PM2.5 sensing module detects that the data value of dust particles in the air exceeds the preset value, the dust fall spraying system can automatically spray water to the air, and the water is sprayed in an atomized form, dust falling work is carried out on dust particles in the air, and after ground garbage is cleaned, the garbage can be automatically classified by the cleaning and classifying system.
Advantageous effects
The invention provides an intelligent cleaning system and method for road edge detection, which have the following beneficial effects compared with the prior art:
1. according to the intelligent cleaning system and method for detecting the road edge, the images of the garbage are collected in real time, the collected images are preprocessed and identified, the garbage information of the road surface can be accurately judged, then the garbage is cleaned, resources of the cleaning robot are reasonably utilized, the road cleaning effect is improved, obstacles can be reasonably avoided in cleaning, the garbage can be automatically classified and stored after the cleaning is finished, and the intelligence of the cleaning robot is improved.
2. This road edge detection's intelligent cleaning system and method, when cleaning the road, if road raise dust exceeds standard, can carry out the dust fall work, and then can prevent that the road from appearing the raise dust condition, prevent that the raise dust from being given by personnel and inhaling the lung and producing unnecessary influence to health.
Drawings
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a schematic block diagram of a garbage recognition system of the present invention;
FIG. 3 is a schematic block diagram of the garbage disposal system of the present invention.
In the figure: 1. a main control CPU; 2. a cleaning robot; 3. a trash recognition system; 31. an image acquisition module; 32. an image preprocessing module; 33. a feature extraction module; 34. a matching identification module; 35. a sample library; 36. a result output module; 4. a waste disposal system; 41. cleaning a walking system; 42. an automatic cleaning system; 43. a dust-settling spraying system; 44. a cleaning warning system; 45. cleaning and classifying system; 46. an information receiving module; 47. an ultrasonic sensing module; 48. PM2.5 sensing module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution, an intelligent cleaning system for detecting road edges, including a main control CPU1, a cleaning robot 2, a garbage recognition system 3 and a garbage disposal system 4, where the garbage recognition system 3 is used to intelligently recognize garbage on a road, and after recognition, the cleaning robot 2 enables the garbage disposal system 4 to clean the garbage on the road.
Referring to fig. 2, in the embodiment of the present invention, the garbage recognition system 3 includes an image acquisition module 31, an image preprocessing module 32, a feature extraction module 33, a matching recognition module 34, a sample library 35, and a result output module 36, the image acquisition module 31 acquires garbage images on roads in real time, the image preprocessing module 32 performs image filtering, image enhancement, and image edge processing on the images, the feature extraction module 33 extracts features of the acquired images after processing, the matching recognition module 34 recognizes and compares garbage in the sample library 35 with the acquired images to determine whether the garbage images are garbage, the image acquisition module 31 acquires road garbage images through a double-sided camera, the double-sided camera is installed at front, back, left, and right positions of the cleaning robot 2 to perform omnibearing garbage image acquisition on the ground, when the image preprocessing module 32 performs image filtering, image enhancement and image edge processing on an image, high-frequency components in the image are removed through a low-pass filter to achieve a noise reduction effect, then high-frequency component blocking is performed by taking an average value of partial regions of the image, secondary filtering processing is performed on the image, then a gray level histogram of the image is changed through a gray level mapping function to ensure that each gray level has the same pixel points, finally whether the edge is accurate is analyzed by utilizing the characteristic that a secondary derivative at the edge is zero, if the edge is not accurate, image thinning processing is performed to find a skeleton structure of the image, redundant information is removed, preprocessing work of the image is completed, when the matching recognition module 34 recognizes the collected garbage image, firstly, the influence of fine particles in the binary image is eliminated through open operation, and then a connected domain with the largest area is calculated, and finally, filling the cavities in the garbage image by using closed operation, and improving the accuracy of image edge detection by using morphological corrosion treatment so as to accurately judge the type of garbage.
Referring to fig. 3, in the embodiment of the present invention, the garbage disposal system 4 includes a cleaning traveling system 41, an automatic cleaning system 42, a dust fall spraying system 43, a cleaning warning system 44, a cleaning classification system 45, an information receiving module 46, an ultrasonic sensing module 47, and a PM2.5 sensing module 48, where the ultrasonic sensing module 47 is used to detect a distance between the cleaning robot 2 and the garbage and a distance between obstacles, the PM2.5 sensing module 48 is used to detect dust generated in the cleaning process in real time, preset a range value of dust in the air, and then determine whether dust particles in the air exceed a preset range value, the information receiving module 46 receives the information after detection, when the distance of the garbage is detected by the ultrasonic sensing module 47, the cleaning traveling system 41 makes the cleaning robot 2 automatically travel to a garbage position, and then the automatic cleaning system 42 cleans the garbage on the ground, when the monitored distance is the distance of the obstacle, the cleaning warning system 44 judges the characteristics of the obstacle, if the obstacle is an inanimate characteristic body, the cleaning walking system 41 can enable the cleaning robot 2 to automatically turn to avoid, if the obstacle is an inanimate characteristic body, the cleaning warning system 44 can send out voice warning to enable the obstacle to automatically leave, the voice warning content is preset in advance, otherwise the cleaning walking system 41 can enable the cleaning robot 2 to turn to avoid collision, when the PM2.5 sensing module 48 detects that the data value of airborne dust particles exceeds the preset value, the dust-fall spraying system 43 can automatically spray water to the air, the water is sprayed in an atomized form to perform dust-fall work on the airborne dust particles, after the ground garbage is cleaned, the cleaning classification system 45 can automatically classify the garbage, when the cleaning classification system 45 classifies the garbage, the cleaning robot 2 is provided with a recyclable garbage area and a non-recyclable garbage area, and then garbage is classified and put into the corresponding garbage recycling area in a manipulator mode.
In the embodiment of the invention, an intelligent cleaning method for road edge detection comprises the following steps:
s1, firstly, the image collection module 31 collects the garbage image on the road in real time, the collected image preprocessing module 32 firstly eliminates the high-frequency component in the image through a low-pass filter to make it reach the noise reduction effect, secondly, the image is filtered for the second time by taking the average value of the partial area of the image to block the high-frequency component, secondly, the gray histogram of the image is changed through the gray mapping function to ensure that each gray has the same pixel point, finally, whether the edge is accurate is analyzed by utilizing the characteristic that the secondary derivative at the edge is zero, if not, the image thinning processing is carried out to find the skeleton structure of the image, the redundant information is removed to finish the preprocessing work of the image, the processed characteristic extraction module 33 extracts the characteristic of the collected image, the matching identification module 34 identifies and compares the garbage in the sample base 35 with the collected image, firstly, eliminating the influence of fine particles in a binary image by utilizing open operation, then calculating a communication domain with the largest area, then filling a cavity in a garbage image by utilizing closed operation, and finally improving the accuracy of image edge detection by utilizing morphological corrosion treatment so as to accurately judge the type of garbage;
s2, detecting the distance between the cleaning robot 2 and the garbage and the distance between obstacles by the ultrasonic sensing module 47, detecting dust generated in the cleaning process in real time by the PM2.5 sensing module 48, presetting a range value of dust in the air, judging whether dust particles in the air exceed the standard or not according to the preset range value, and receiving information by the information receiving module 46 after detection;
s3, when the distance of the garbage is detected by the ultrasonic sensing module 47, the cleaning walking system 41 will make the cleaning robot 2 automatically walk to the position of the garbage, then the automatic cleaning system 42 cleans the garbage on the ground, when the monitored distance is the distance of the obstacle, the cleaning warning system 44 will judge the characteristics of the obstacle, if the obstacle is an inanimate characteristic body, the cleaning walking system 41 will make the cleaning robot 2 automatically turn to avoid, if the obstacle is a animate characteristic body, the cleaning warning system 44 will send out voice warning to make the obstacle leave by itself, the content of the voice warning is preset in advance, otherwise, the cleaning walking system 41 will make the cleaning robot 2 turn to avoid collision, when the PM2.5 sensing module 48 detects that the data value of the dust particles in the air exceeds the preset value, the dust-fall spraying system 43 will automatically spray water to the air, water is sprayed in an atomized form to perform dust fall work on airborne dust particles, and after the ground garbage is cleaned, the cleaning and sorting system 45 can automatically sort the garbage.
And those not described in detail in this specification are well within the skill of those in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Claims (8)
1. The utility model provides an intelligence cleaning system of road edge detection which characterized in that: the road garbage cleaning system comprises a master control CPU (1), a cleaning robot (2), a garbage recognition system (3) and a garbage disposal system (4), wherein the garbage recognition system (3) is used for intelligently recognizing the garbage on the road, and the cleaning robot (2) enables the garbage disposal system (4) to clean the garbage on the road after recognition;
the garbage recognition system (3) comprises an image acquisition module (31), an image preprocessing module (32), a feature extraction module (33), a matching recognition module (34), a sample library (35) and a result output module (36), wherein the image acquisition module (31) acquires garbage images on roads in real time, the image preprocessing module (32) performs image filtering processing, image enhancement processing and image edge processing on the images after acquisition, the feature extraction module (33) extracts the acquired image features after processing, and the matching recognition module (34) performs recognition comparison on garbage in the sample library (35) and the acquired images to judge whether the garbage is garbage or not.
2. The intelligent road edge detection sweeping system of claim 1, wherein: the image acquisition module (31) acquires road garbage images through a double-sided camera, and the double-sided camera is installed at the front, back, left and right positions of the cleaning robot (2) to perform all-around garbage image acquisition work on the ground.
3. The intelligent road edge detection sweeping system of claim 1, wherein: when the image preprocessing module (32) carries out image filtering processing, image enhancement processing and image edge processing on an image, high-frequency components in the image are firstly eliminated through a low-pass filter to achieve a noise reduction effect, then high-frequency component blocking is carried out by taking the average value of partial regions of the image, secondary filtering processing is carried out on the image, then a gray level histogram of the image is changed through a gray level mapping function to ensure that each gray level has the same pixel points, finally whether the edge is accurate or not is analyzed by utilizing the characteristic that the secondary derivative at the edge is zero, if not, image thinning processing is carried out again to find out the skeleton structure of the image, redundant information is removed, and the image preprocessing work is completed.
4. The intelligent road edge detection sweeping system of claim 1, wherein: when the matching identification module (34) identifies the collected garbage image, firstly, the influence of fine particles in the binary image is eliminated by utilizing open operation, then, the communication domain with the largest area is calculated, then, the cavity in the garbage image is filled by utilizing closed operation, and finally, the accuracy of image edge detection is improved by utilizing morphological corrosion treatment, so that the type of garbage is accurately judged.
5. The intelligent road edge detection sweeping system of claim 1, wherein: garbage disposal system (4) is including cleaning traveling system (41) and automatic cleaning system (42), dust fall sprinkling system (43), clean warning system (44), clean classification system (45), information receiving module (46), ultrasonic sensing module (47) and PM2.5 sensing module (48), ultrasonic sensing module (47) are used for detecting the distance between cleaning robot (2) and the rubbish and the distance between the barrier, PM2.5 sensing module (48) are used for carrying out real-time detection to the dust that the cleaning in-process produced, predetermine the scope value of an aerial dust, then can judge whether aerial dust particle exceeds standard according to predetermined scope value, detect back information receiving module (46) and receive information.
6. The intelligent road edge detection sweeping system of claim 5, wherein: when the ultrasonic sensing module (47) detects the distance of garbage, the cleaning walking system (41) can enable the cleaning robot (2) to automatically walk to the position of the garbage, then the automatic cleaning system (42) cleans the garbage on the ground, when the monitored distance is the distance of an obstacle, the cleaning warning system (44) can judge the characteristics of the obstacle, if the obstacle is an inanimate characteristic body, the cleaning walking system (41) can enable the cleaning robot (2) to automatically turn to avoid, if the obstacle is an animate characteristic body, the cleaning warning system (44) can send out voice warning to enable the obstacle to automatically leave, the voice warning content is preset in advance, otherwise, the cleaning walking system (41) can enable the cleaning robot (2) to turn to avoid, collision is avoided, when the PM2.5 sensing module (48) detects that the data value of dust particles in the air exceeds a preset value, the dust fall spraying system (43) can automatically spray water to the air, the water is sprayed out in an atomized mode to perform dust fall work on dust particles in the air, and after ground garbage is cleaned, the cleaning and classifying system (45) can automatically classify the garbage.
7. The intelligent road edge detection sweeping system of claim 6, wherein: when the cleaning and classifying system (45) classifies the garbage, the cleaning robot (2) is provided with a recoverable garbage area and an unrecoverable garbage area, and then the garbage is classified and put into the corresponding garbage recovery area in a manipulator mode.
8. An intelligent cleaning method for road edge detection is characterized in that: a system comprising any one of claims 1 to 7, wherein the cleaning method comprises the following steps:
s1, firstly, the image acquisition module (31) acquires the garbage image on the road in real time, the acquired image preprocessing module (32) firstly eliminates high-frequency components in the image through a low-pass filter to achieve the noise reduction effect, secondly, the image is subjected to secondary filtering processing by taking the average value of partial areas of the image to perform secondary filtering processing, thirdly, the gray histogram of the image is changed through a gray mapping function to ensure that each gray has the same pixel points, finally, whether the edge is accurate or not is analyzed by utilizing the characteristic that the secondary derivative at the edge is zero, if not, the image thinning processing is performed to find the skeleton structure of the image, redundant information is removed to finish the preprocessing work of the image, the characteristic extraction module (33) extracts the characteristics of the acquired image after processing, and the matching identification module (34) identifies and compares the garbage in the sample base (35) with the acquired image, firstly, eliminating the influence of fine particles in a binary image by utilizing open operation, then calculating a communication domain with the largest area, then filling a cavity in a garbage image by utilizing closed operation, and finally improving the accuracy of image edge detection by utilizing morphological corrosion treatment so as to accurately judge the type of garbage;
s2, detecting the distance between the cleaning robot (2) and garbage and the distance between obstacles by an ultrasonic sensing module (47), detecting dust generated in the cleaning process in real time by a PM2.5 sensing module (48), presetting a range value of the dust in the air, judging whether dust particles in the air exceed the standard or not according to the preset range value, and receiving information by an information receiving module (46) after detection;
s3, when the distance of the garbage is detected by the ultrasonic sensing module (47), the cleaning walking system (41) can enable the cleaning robot (2) to automatically walk to the position of the garbage, then the automatic cleaning system (42) cleans the garbage on the ground, when the monitored distance is the distance of the obstacle, the cleaning warning system (44) can judge the characteristics of the obstacle, if the obstacle is an inanimate characteristic body, the cleaning walking system (41) can enable the cleaning robot (2) to automatically turn to avoid, if the obstacle is a animate characteristic body, the cleaning warning system (44) can send out voice warning to enable the obstacle to automatically leave, the voice warning content is preset in advance, otherwise, the cleaning walking system (41) can enable the cleaning robot (2) to turn to avoid, collision is avoided, when the PM2.5 sensing module (48) detects that the data value of the dust particles in the air exceeds the preset value, the dust fall spraying system (43) can automatically spray water to the air, the water is sprayed out in an atomized mode to perform dust fall work on dust particles in the air, and after ground garbage is cleaned, the cleaning and classifying system (45) can automatically classify the garbage.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116068956A (en) * | 2023-03-07 | 2023-05-05 | 深圳华龙讯达信息技术股份有限公司 | PLC-based production line process monitoring system and method |
| CN116258715A (en) * | 2023-05-15 | 2023-06-13 | 北京中超伟业信息安全技术股份有限公司 | Dust recycling method and device and electronic equipment |
| CN118505701A (en) * | 2024-07-18 | 2024-08-16 | 广州航海学院 | Concrete crack identification method based on computer image processing |
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2022
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116068956A (en) * | 2023-03-07 | 2023-05-05 | 深圳华龙讯达信息技术股份有限公司 | PLC-based production line process monitoring system and method |
| CN116068956B (en) * | 2023-03-07 | 2023-07-14 | 深圳华龙讯达信息技术股份有限公司 | PLC-based production line process monitoring system and method |
| CN116258715A (en) * | 2023-05-15 | 2023-06-13 | 北京中超伟业信息安全技术股份有限公司 | Dust recycling method and device and electronic equipment |
| CN118505701A (en) * | 2024-07-18 | 2024-08-16 | 广州航海学院 | Concrete crack identification method based on computer image processing |
| CN118505701B (en) * | 2024-07-18 | 2024-10-18 | 广州航海学院 | Concrete crack identification method based on computer image processing |
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