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CN108230373A - Mechanical cleaning devices run trace corrects platform - Google Patents

Mechanical cleaning devices run trace corrects platform Download PDF

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Publication number
CN108230373A
CN108230373A CN201810116958.5A CN201810116958A CN108230373A CN 108230373 A CN108230373 A CN 108230373A CN 201810116958 A CN201810116958 A CN 201810116958A CN 108230373 A CN108230373 A CN 108230373A
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China
Prior art keywords
image
glass
equipment
cleaning devices
mechanical cleaning
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CN201810116958.5A
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Chinese (zh)
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时明
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Priority to CN201810116958.5A priority Critical patent/CN108230373A/en
Publication of CN108230373A publication Critical patent/CN108230373A/en
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/20Analysis of motion
    • G06T7/292Multi-camera tracking
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00Geometric image transformations in the plane of the image
    • G06T3/40Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038Image mosaicing, e.g. composing plane images from plane sub-images
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20036Morphological image processing
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20212Image combination
    • G06T2207/20221Image fusion; Image merging
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20228Disparity calculation for image-based rendering

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Studio Devices (AREA)

Abstract

The present invention relates to a kind of mechanical cleaning devices run trace to correct platform, including:Dust concentration detection device, for detecting the dust concentration of neighbouring environment, to be exported as real-time dust concentration;Mechanical cleaning devices are connect with the dust concentration detection device, for receiving the real-time dust concentration, and determine corresponding cleaning dynamics based on the real-time dust concentration;Track output equipment is connect with the mechanical cleaning devices, for the cleaning determined run trace to be sent to the mechanical cleaning devices, in order to which the mechanical cleaning devices carry out clean operation according to the cleaning run trace;Dual camera component is arranged on the front end of the mechanical cleaning devices, including horizontally disposed two cameras;The dual camera component is for shooting front scenery, to obtain left side scene image and right side scene image respectively.Front glassware is evaded by means of the invention it is possible to realize and effectively realize.

Description

Mechanical cleaning devices run trace corrects platform
Technical field
The present invention relates to clean robot fields more particularly to a kind of mechanical cleaning devices run trace to correct platform.
Background technology
With the development of China's urbanization, skyscraper is more and more, and the cleaning of the skyscraper window towards household, It will be as a huge market.Current window clean robot is mostly negative-pressure adsorption, vacuum suction mostly using suction type It is adsorbed on window with magnetic absorption mode, is by true wherein for the window clean robot using vacuum suction mode Empty sucker suction realizes the placement of robot on window.But there is vacuum suctions for the robot of existing vacuum suction mode The problem of attached easy leakage.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of mechanical cleaning devices run trace to correct platform, Neng Gouji The glassware in front is effectively identified in the imaging characteristics of glass, the image shot from mechanical cleaning devices, and adaptive The travel track of mechanical cleaning devices is changed on ground, so as to which the accident for avoiding mechanical cleaning devices collision front glassware occurs.
Based on technical scheme of the present invention, the present invention has following key inventive point:
(1) high-accuracy glass image identification on the basis of, based on glass image entirely acquisition image relative position, The travelling route of automatic modification mechanical cleaning devices, it is unnecessary so as to avoid causing glass equipment and mechanical cleaning devices Damage;
(2) the glassy zone recognition mechanism that first image is just known, confirmed in image is established, ensure that the essence of glassy zone identification Degree, more valuable reference data is provided for follow-up respective handling;
(3) the histogram analysis mode of average staturation image is introduced, and glassy zone is utilized in image confirmation The physical characteristic to differ greatly of the saturation degree of both sides image and glassy zone, so as to provide reliable recognition mode;
(4) it is glass left-side images, glass image and glass using the saturation degree average mode of 5 pixel, 5 pixel window The acquisition of the respective average staturation image of image right provides reliable scheme;
(5) pass through scene image on the left of being obtained respectively to horizontally disposed two cameras and the parallax of right side scene image Analysis determines distance of the main target apart from camera in the scenery of front, accordingly to adjust the focal length of two cameras, and by two The image of a camera shooting is combined, to obtain the big field-of-view image of high-definition.
According to an aspect of the present invention, it provides a kind of mechanical cleaning devices run trace and corrects platform, the platform packet It includes:
Dust concentration detection device, for detecting the dust concentration of neighbouring environment, to be exported as real-time dust concentration;
Mechanical cleaning devices are connect with the dust concentration detection device, for receiving the real-time dust concentration, and base Corresponding cleaning dynamics is determined in the real-time dust concentration;
Track output equipment is connect with the mechanical cleaning devices, for the cleaning determined run trace to be sent to institute Mechanical cleaning devices are stated, in order to which the mechanical cleaning devices carry out clean operation according to the cleaning run trace;
Dual camera component is arranged on the front end of the mechanical cleaning devices, including horizontally disposed two cameras;Institute Dual camera component is stated for being shot to front scenery, to obtain left side scene image and right side scene image respectively;
Disparity Analysis equipment is connect with two cameras of the dual camera component, respectively for receiving the left side Scene image and the right side scene image, and the left side scene image is divided into multiple cut zone, and based on each A cut zone finds the similar area of matching content in the right side scene image, each in the scene image of left side is divided The coordinate shift of region and its similar area in the scene image of right side is as zone shift amount, based on the left side scene image Each region offset determine parallax between the left side scene image and the right side scene image;
Focus adjustment equipment is connect respectively with the dual camera component and the Disparity Analysis equipment, for being based on Main target that parallax determines to shoot in the left side scene image or the right side scene image is stated apart from the dual camera The distance of component, and focus adjustment is carried out to described two cameras based on the distance;
Image combining apparatus is connect with the focus adjustment equipment and the dual camera component, in the focal length After adjustment equipment completes focus adjustment, described two cameras are obtained into left side scene image respectively and right side scene image carries out Splice to obtain and export real-time stitching image;
Morphological scale-space equipment is connect with described image unit equipment, for receiving the real-time stitching image, and to institute It states real-time stitching image and performs Morphological scale-space processing, to obtain and export Morphological scale-space image;
Equipment is just known in region, is connect with the Morphological scale-space equipment, for receiving the Morphological scale-space image, for Whether the brightness value of each pixel in the Morphological scale-space image judges it in default glass upper limit brightness value and pre- If in the range of luminance values of glass lower limit brightness value composition, if in the range of luminance values, judge that the pixel is Initial pixel, and all initial pixels composition in the Morphological scale-space image is just known into pixel region.
Description of the drawings
Embodiment of the present invention is described below with reference to attached drawing, wherein:
Fig. 1 is the appearance profile of the mechanical cleaning devices run trace amendment platform according to embodiment of the present invention Figure.
Fig. 2 is the structure box of the mechanical cleaning devices run trace amendment platform according to embodiment of the present invention Figure.
Specific embodiment
The embodiment for correcting platform to the mechanical cleaning devices run trace of the present invention below with reference to accompanying drawings carries out detailed It describes in detail bright.
Glass is amorphous inorganic non-metallic material, and usually with a variety of inorganic minerals, (such as quartz sand, borax, boric acid, weight are brilliant Stone, barium carbonate, lime stone, feldspar, soda ash etc.) it is primary raw material, it additionally incorporates made of a small amount of auxiliary material.It it is main into It is divided into silica and other oxides.The chemical composition of simple glass is Na2SiO3、CaSiO3、SiO2Or Na2O·CaO· 6SiO2Deng main component is silicate double salt, is a kind of non-crystalline solids of random structure.It is widely used in building, uses , every wind light transmission, to belong to mixture.The another coloured glass for having the oxide for being mixed into certain metals or salt and showing color Glass and pass through tempered glass etc. made from the method for physics or chemistry.Sometimes some transparent plastics (such as polymethyls Sour methyl esters) it is also referred to as organic glass.
Glassware is the common items of house, workshop and intra-office, widely used in mechanical cleaning devices Today the glassware in forward path can not effectively be identified and be hidden, be the difficulty that mechanical cleaning devices are difficult to overcome One of topic.
In order to overcome above-mentioned deficiency, the present invention has built a kind of mechanical cleaning devices run trace and has corrected platform, for solving Certainly above-mentioned technical problem.
Fig. 1 is the appearance profile of the mechanical cleaning devices run trace amendment platform according to embodiment of the present invention Figure.
As can be seen that the platform includes from the profile outline:Dual camera component 1, mechanical cleaning devices 2, Dust concentration detection device 3 and work light set 4.
Wherein, work light set 4 is made of three work lights, for representing the difference of the platform respectively State.
Fig. 2 is the structure box of the mechanical cleaning devices run trace amendment platform according to embodiment of the present invention Figure, the platform include:
Dust concentration detection device, for detecting the dust concentration of neighbouring environment, to be exported as real-time dust concentration;
Mechanical cleaning devices are connect with the dust concentration detection device, for receiving the real-time dust concentration, and base Corresponding cleaning dynamics is determined in the real-time dust concentration;
Track output equipment is connect with the mechanical cleaning devices, for the cleaning determined run trace to be sent to institute Mechanical cleaning devices are stated, in order to which the mechanical cleaning devices carry out clean operation according to the cleaning run trace.
Then, the concrete structure for continuing to correct the mechanical cleaning devices run trace of the present invention platform carries out further Explanation.
The mechanical cleaning devices run trace is corrected can also include in platform:
Dual camera component is arranged on the front end of the mechanical cleaning devices, including horizontally disposed two cameras;
Wherein, the dual camera component is for shooting front scenery, with obtain respectively left side scene image and Right side scene image.
The mechanical cleaning devices run trace is corrected can also include in platform:
Disparity Analysis equipment is connect with two cameras of the dual camera component, respectively for receiving the left side Scene image and the right side scene image, and the left side scene image is divided into multiple cut zone, and based on each A cut zone finds the similar area of matching content in the right side scene image, each in the scene image of left side is divided The coordinate shift of region and its similar area in the scene image of right side is as zone shift amount, based on the left side scene image Each region offset determine parallax between the left side scene image and the right side scene image.
The mechanical cleaning devices run trace is corrected can also include in platform:
Focus adjustment equipment is connect respectively with the dual camera component and the Disparity Analysis equipment, for being based on Main target that parallax determines to shoot in the left side scene image or the right side scene image is stated apart from the dual camera The distance of component, and focus adjustment is carried out to described two cameras based on the distance;
Image combining apparatus is connect with the focus adjustment equipment and the dual camera component, in the focal length After adjustment equipment completes focus adjustment, described two cameras are obtained into left side scene image respectively and right side scene image carries out Splice to obtain and export real-time stitching image.
The mechanical cleaning devices run trace is corrected can also include in platform:
Morphological scale-space equipment is connect with described image unit equipment, for receiving the real-time stitching image, and to institute It states real-time stitching image and performs Morphological scale-space processing, to obtain and export Morphological scale-space image;
Equipment is just known in region, is connect with the Morphological scale-space equipment, for receiving the Morphological scale-space image, for Whether the brightness value of each pixel in the Morphological scale-space image judges it in default glass upper limit brightness value and pre- If in the range of luminance values of glass lower limit brightness value composition, if in the range of luminance values, judge that the pixel is Initial pixel, and all initial pixels composition in the Morphological scale-space image is just known into pixel region;
Process of fitting treatment equipment is just known equipment with the region and is connect, for receiving the just knowledge pixel region, and by described in Just know pixel region fitting and just know image to obtain;
Image divides equipment, and just knowing equipment with the process of fitting treatment equipment and the region respectively connect, for being based on It states and just knows position of the image in the Morphological scale-space image, the Morphological scale-space image is divided into glass left hand view Picture, glass image and glass image right;
Saturation analysis equipment divides equipment with described image and connect, for receiving the glass left-side images, the glass Glass image and the glass image right, for each pixel in the glass left-side images, calculate using it in The heart, around in 5 pixel, 5 pixel region the saturation degree of each pixel average value using as its average staturation, based on institute The average staturation for stating each pixel in glass left-side images obtains the corresponding average staturation of the glass left-side images Image based on the same treatment to the glass left-side images, obtains the corresponding average staturation figure of the glass image right Picture and the corresponding average staturation image of the glass image;
Histogram treatment equipment is connect with the saturation analysis equipment, for receiving glass left-side images, described Glass image and the corresponding average staturation image of the glass image right, and the glass left-side images are put down Equal saturation degree image performs statistics with histogram, obtain the histogram vectors of the corresponding saturation degree of the glass left-side images using as First histogram vectors perform statistics with histogram to the average staturation image of the glass image right, obtain the glass The histogram vectors of the corresponding saturation degree of image right are using as the second histogram vectors, to the average saturation of the glass image It spends image and performs statistics with histogram, obtain the histogram vectors of the corresponding saturation degree of the glass image using as third histogram Vector;
Region determines equipment, is connect with the histogram treatment equipment, in the first histogram vectors and third Nogata The mould for scheming the difference of vector is more than or equal to default mould threshold value, and in the difference of the second histogram vectors and third histogram vectors When mould is more than or equal to default mould threshold value, the just knowledge image is determined as glass image and is exported, otherwise, just know image by described It is determined as non-glass image and exports;
Wherein, the Disparity Analysis equipment determines the left side based on each region offset of the left side scene image Parallax between scene image and the right side scene image includes:By the highest region of the frequency of occurrences in the offset of each region Offset is as the parallax between the left side scene image and the right side scene image;
Wherein, the track output equipment also determines that equipment is connect with the region, for true in the just knowledge image When being set to glass image, based on the determining cleaning of the relative position modification for just knowing image in the Morphological scale-space image Run trace, and modified cleaning run trace is sent to the mechanical cleaning devices.
In the mechanical cleaning devices run trace corrects platform:
The track output equipment be additionally operable to it is described just know image and be confirmed as non-glass image when, keep determining clear Clean run trace is constant, so that the mechanical cleaning devices walk on by determining cleaning run trace.
It can also include in platform in addition, the mechanical cleaning devices run trace is corrected:GPS positioning device, for connecing The navigation data that GPS navigation satellite is sent is received, to determine the navigation position of the mechanical cleaning devices.
Initial GPS plans to be born under the leader of American Association Plan Bureau, and 24 satellites are placed on mutually by the program Into on 120 degree of three tracks.There are 8 satellites on each track, any point can observe 6 to 9 satellites on the earth.This Sample, for thick code precision up to 100m, smart code precision is 10m.Since budget is compressed, GPS plans have to reduce satellite launch quantity, It is changed to by 18 satellite distributions on 60 degree of 6 tracks are mutually, however this scheme causes satellite reliability that cannot ensure. Last modification is carried out again within 1988:21 work stars and 3 spare stars are operated on 6 tracks for being mutually 60 degree.This It is also working method used in GPS satellite.
GPS navigation system be based on global 24 positioning satellites, to all parts of the world it is round-the-clock three-dimensional is provided A kind of radio-navigation positioning system of the information such as position, three-dimensional velocity.It is made of three parts, when ground control segment, It is made of master station, ground-plane antenna, monitoring station and communication auxiliary system.Second is that space segment, is made of 24 satellites, is distributed in 6 orbit planes.Third, user apparatus part, is made of GPS receiver and satellite antenna.Civilian positioning accuracy is up to 10 meters It is interior.
Mechanical cleaning devices run trace using the present invention corrects platform, holds for mechanical cleaning devices in the prior art The technical issues of easily colliding front glassware is imaged focal length first with 3-D view adjust automatically, recycles glassware The clear image that is obtained after focusing of imaging characteristics in be accurately partitioned into glass image, finally, existed based on the glass image The determining cleaning run trace of relative position modification in the Morphological scale-space image, and by modified cleaning run trace The mechanical cleaning devices are sent to, so as to avoid the collision with front glassware.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention, Many possible changes and modifications are all made to technical solution of the present invention using the technology contents of the disclosure above or are revised as With the equivalent embodiment of variation.Therefore, every content without departing from technical solution of the present invention, technical spirit pair according to the present invention Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the range of technical solution of the present invention protection It is interior.

Claims (6)

1. a kind of mechanical cleaning devices run trace corrects platform, the platform includes:
Dust concentration detection device, for detecting the dust concentration of neighbouring environment, to be exported as real-time dust concentration;
Mechanical cleaning devices are connect with the dust concentration detection device, for receiving the real-time dust concentration, and based on institute It states real-time dust concentration and determines corresponding cleaning dynamics;
Track output equipment is connect with the mechanical cleaning devices, for the cleaning determined run trace to be sent to the machine Tool cleaning equipment, in order to which the mechanical cleaning devices carry out clean operation according to the cleaning run trace.
2. mechanical cleaning devices run trace as described in claim 1 corrects platform, which is characterized in that the platform also wraps It includes:
Dual camera component is arranged on the front end of the mechanical cleaning devices, including horizontally disposed two cameras;
Wherein, the dual camera component is for shooting front scenery, to obtain left side scene image and right side respectively Scene image.
3. mechanical cleaning devices run trace as claimed in claim 2 corrects platform, which is characterized in that the platform also wraps It includes:
Disparity Analysis equipment is connect respectively with two cameras of the dual camera component, for receiving the left side scenery Image and the right side scene image, and the left side scene image is divided into multiple cut zone, and based on each point The similar area that matching content is found in region in the right side scene image is cut, by each cut zone in the scene image of left side Coordinate shift with its similar area in the scene image of right side is as zone shift amount, based on each of the left side scene image A zone shift amount determines the parallax between the left side scene image and the right side scene image.
4. mechanical cleaning devices run trace as claimed in claim 3 corrects platform, which is characterized in that the platform also wraps It includes:
Focus adjustment equipment is connect respectively with the dual camera component and the Disparity Analysis equipment, for being based on described regard The main target that difference determines to shoot in the left side scene image or the right side scene image is apart from the dual camera component Distance, and based on the distance to described two cameras carry out focus adjustment;
Image combining apparatus is connect with the focus adjustment equipment and the dual camera component, in the focus adjustment After equipment completes focus adjustment, described two cameras are obtained into left side scene image respectively and right side scene image splices To obtain and export real-time stitching image.
5. mechanical cleaning devices run trace as claimed in claim 4 corrects platform, which is characterized in that the platform also wraps It includes:
Morphological scale-space equipment is connect with described image unit equipment, for receiving the real-time stitching image, and to the reality When stitching image perform Morphological scale-space processing, to obtain and export Morphological scale-space image;
Equipment is just known in region, is connect with the Morphological scale-space equipment, for receiving the Morphological scale-space image, for described Whether the brightness value of each pixel in Morphological scale-space image judges it in default glass upper limit brightness value and default glass In the range of luminance values of glass lower limit brightness value composition, if in the range of luminance values, it is initial to judge the pixel Pixel, and all initial pixels composition in the Morphological scale-space image is just known into pixel region;
Process of fitting treatment equipment is just known equipment with the region and is connect, and for receiving the just knowledge pixel region, and just knows described Pixel region fitting just knows image to obtain;
Image divides equipment, and just knowing equipment with the process of fitting treatment equipment and the region respectively connect, described first for being based on Know position of the image in the Morphological scale-space image, the Morphological scale-space image is divided into glass left-side images, glass Glass image and glass image right;
Saturation analysis equipment divides equipment with described image and connect, for receiving the glass left-side images, the glass figure As and the glass image right, for each pixel in the glass left-side images, calculate it is centered on it, Around in 5 pixel, 5 pixel region the saturation degree of each pixel average value using as its average staturation, based on the glass The average staturation of each pixel in left-side images obtains the corresponding average staturation image of the glass left-side images, base In the same treatment to the glass left-side images, the corresponding average staturation image of the glass image right and institute are obtained State the corresponding average staturation image of glass image;
Histogram treatment equipment is connect with the saturation analysis equipment, for receiving the glass left-side images, the glass Image and the corresponding average staturation image of the glass image right, and to the average full of the glass left-side images Statistics with histogram is performed with degree image, obtains the histogram vectors of the corresponding saturation degree of the glass left-side images using as first Histogram vectors perform statistics with histogram to the average staturation image of the glass image right, obtain on the right side of the glass The histogram vectors of the corresponding saturation degree of image are using as the second histogram vectors, to the average staturation figure of the glass image As performing statistics with histogram, obtain the histogram vectors of the corresponding saturation degree of the glass image using as third histogram to Amount;
Region determines equipment, is connect with the histogram treatment equipment, for the first histogram vectors and third histogram to The mould of the difference of amount is more than or equal to default mould threshold value, and big in the mould of the second histogram vectors and the difference of third histogram vectors When equal to default mould threshold value, the just knowledge image is determined as glass image and is exported, otherwise, the just knowledge image is determined For non-glass image and export;
Wherein, the Disparity Analysis equipment determines the left side scenery based on each region offset of the left side scene image Parallax between image and the right side scene image includes:By the highest region offset of the frequency of occurrences in the offset of each region Amount is as the parallax between the left side scene image and the right side scene image;
Wherein, the track output equipment also determines that equipment is connect with the region, for being confirmed as in the just knowledge image During glass image, walked based on the determining cleaning of the relative position modification for just knowing image in the Morphological scale-space image Track, and modified cleaning run trace is sent to the mechanical cleaning devices.
6. mechanical cleaning devices run trace as claimed in claim 5 corrects platform, it is characterised in that:
The track output equipment is additionally operable to, when the just knowledge image is confirmed as non-glass image, keep determining cleaning row Walk that track is constant, so that the mechanical cleaning devices walk on by determining cleaning run trace.
CN201810116958.5A 2018-02-06 2018-02-06 Mechanical cleaning devices run trace corrects platform Withdrawn CN108230373A (en)

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CN201810116958.5A CN108230373A (en) 2018-02-06 2018-02-06 Mechanical cleaning devices run trace corrects platform

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Application Number Priority Date Filing Date Title
CN201810116958.5A CN108230373A (en) 2018-02-06 2018-02-06 Mechanical cleaning devices run trace corrects platform

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Application publication date: 20180629