CN109118524A - Mechanical cleaning devices run trace modification method - Google Patents
Mechanical cleaning devices run trace modification method Download PDFInfo
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- CN109118524A CN109118524A CN201810116615.9A CN201810116615A CN109118524A CN 109118524 A CN109118524 A CN 109118524A CN 201810116615 A CN201810116615 A CN 201810116615A CN 109118524 A CN109118524 A CN 109118524A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 80
- 238000002715 modification method Methods 0.000 title claims abstract description 8
- 239000011521 glass Substances 0.000 claims abstract description 76
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000000877 morphologic effect Effects 0.000 claims description 28
- 230000009977 dual effect Effects 0.000 claims description 19
- 239000000428 dust Substances 0.000 claims description 19
- 239000013598 vector Substances 0.000 claims description 18
- 238000004458 analytical method Methods 0.000 claims description 14
- 238000012986 modification Methods 0.000 claims description 9
- 230000004048 modification Effects 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- CDBYLPFSWZWCQE-UHFFFAOYSA-L Sodium Carbonate Chemical compound [Na+].[Na+].[O-]C([O-])=O CDBYLPFSWZWCQE-UHFFFAOYSA-L 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 150000003839 salts Chemical class 0.000 description 2
- 239000000377 silicon dioxide Substances 0.000 description 2
- 235000019738 Limestone Nutrition 0.000 description 1
- KKCBUQHMOMHUOY-UHFFFAOYSA-N Na2O Inorganic materials [O-2].[Na+].[Na+] KKCBUQHMOMHUOY-UHFFFAOYSA-N 0.000 description 1
- BPQQTUXANYXVAA-UHFFFAOYSA-N Orthosilicate Chemical group [O-][Si]([O-])([O-])[O-] BPQQTUXANYXVAA-UHFFFAOYSA-N 0.000 description 1
- 239000006004 Quartz sand Substances 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
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- AYJRCSIUFZENHW-DEQYMQKBSA-L barium(2+);oxomethanediolate Chemical compound [Ba+2].[O-][14C]([O-])=O AYJRCSIUFZENHW-DEQYMQKBSA-L 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910021538 borax Inorganic materials 0.000 description 1
- KGBXLFKZBHKPEV-UHFFFAOYSA-N boric acid Chemical compound OB(O)O KGBXLFKZBHKPEV-UHFFFAOYSA-N 0.000 description 1
- 239000004327 boric acid Substances 0.000 description 1
- 229910052681 coesite Inorganic materials 0.000 description 1
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- 229910052906 cristobalite Inorganic materials 0.000 description 1
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- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010433 feldspar Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000006028 limestone Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 150000004702 methyl esters Chemical class 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- 229910000029 sodium carbonate Inorganic materials 0.000 description 1
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- 229910052911 sodium silicate Inorganic materials 0.000 description 1
- 239000004328 sodium tetraborate Substances 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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- 229910052682 stishovite Inorganic materials 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000005341 toughened glass Substances 0.000 description 1
- 229910052905 tridymite Inorganic materials 0.000 description 1
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
-
- 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
- G06T2207/20—Special algorithmic details
- G06T2207/20036—Morphological image processing
-
- 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
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
-
- 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
- G06T2207/20—Special algorithmic details
- G06T2207/20228—Disparity calculation for image-based rendering
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of mechanical cleaning devices run trace modification methods, and the method includes the mechanical cleaning devices run trace used amendment platforms to identify that glass is acquiring the relative position of image entirely to modify the travelling route of mechanical cleaning devices automatically.Front glassware is evaded by means of the invention it is possible to realize and effectively realize.
Description
Technical field
The present invention relates to clean robot field more particularly to a kind of mechanical cleaning devices run trace modification methods.
Background technique
With the development of China's urbanization, skyscraper is more and more, and the cleaning of the skyscraper window towards household,
A huge market will be become.It is mostly negative-pressure adsorption, vacuum suction that current window clean robot, which mostly uses suction type,
It is adsorbed on window with magnetic absorption mode, wherein being by true for the window clean robot using vacuum suction mode
Suction disk is adsorbed on window the placement for realizing robot.But there is vacuum suctions for the robot of existing vacuum suction mode
The problem of attached easy leakage.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of mechanical cleaning devices run trace modification method, Neng Gouji
In the imaging characteristics of glass, the glassware in front is effectively identified from the image that mechanical cleaning devices are shot, and adaptive
The travel track of mechanical cleaning devices is modified on ground, so that the accident of mechanical cleaning devices collision front glassware be avoided to occur.
Based on technical solution of the present invention, the present invention has following key inventive point:
(1) on the basis of high-accuracy glass image recognition, based on glass image entirely acquisition image relative position,
The travelling route of automatic modification mechanical cleaning devices, to avoid causing glass equipment and mechanical cleaning devices unnecessary
Damage；
(2) it establishes first image just to know, in the glassy zone recognition mechanism of image confirmation, ensure that the essence of glassy zone identification
Degree, more valuable reference data is provided for subsequent respective handling；
(3) the histogram analysis mode of average staturation image is introduced in image confirmation, and glassy zone is utilized
The physical characteristic of the saturation degree of two sides image and glassy zone to differ greatly, to provide reliable recognition mode；
(4) the saturation degree average mode for using 5 pixel, 5 pixel window is glass left-side images, glass image and glass
The acquisition of the respective average staturation image of image right provides reliable scheme；
(5) pass through the parallax of scene image and right side scene image on the left of obtaining respectively to horizontally disposed two cameras
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, a kind of mechanical cleaning devices run trace modification method, the method packet are provided
The mechanical cleaning devices run trace amendment platform used is included to identify glass in the relative position of entirely acquisition image with automatic
The travelling route of mechanical cleaning devices is modified, the mechanical cleaning devices run trace amendment 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 base
Corresponding cleaning dynamics is determined in the real-time dust concentration；
Track output equipment is connect with the mechanical cleaning devices, and the cleaning run trace for will determine is 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；
The front end of the mechanical cleaning devices, including horizontally disposed two cameras is arranged in dual camera component；Institute
Dual camera component is stated for shooting to front scenery, to obtain left side scene image and right side scene image respectively；
Disparity Analysis equipment is separately connected, for receiving the left side with two cameras of the dual camera component
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 based on the left side scene image as zone shift amount
Each region offset determine the parallax between the left side scene image and the right side scene image；
Focus adjustment equipment is connect with the dual camera component and the Disparity Analysis equipment respectively, for being based on institute
Stating parallax determines the main target shot in the left side scene image or the right side scene image 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 to left side scene image respectively and right side scene image carries out
Splicing is 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 executes Morphological scale-space processing, to obtain and export Morphological scale-space image；
Equipment is just known in region, connect with the Morphological scale-space equipment, for receiving the Morphological scale-space image, for
Whether the brightness value of each of Morphological scale-space image pixel 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 judging that the pixel is in the range of luminance values
Initial pixel, and all initial pixels composition in the Morphological scale-space image is just known into pixel region.
Detailed description of the invention
Embodiment of the present invention is described below with reference to attached drawing, in which:
Fig. 1 is the appearance profile that platform is corrected according to the mechanical cleaning devices run trace shown in embodiment of the present invention
Figure.
Fig. 2 is the structure box that platform is corrected according to the mechanical cleaning devices run trace shown in embodiment of the present invention
Figure.
Specific embodiment
The embodiment of mechanical cleaning devices run trace amendment platform of the invention is carried out below with reference to accompanying drawings 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 at
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
To belong to mixture every wind light transmission.The another coloured glass for having the oxide for being mixed into certain metals or salt and showing color
Glass, and the tempered glass as made from the method for physics or chemistry etc..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
Glassware in forward path effectively can not be identified and be hidden, be the difficulty that mechanical cleaning devices are difficult to overcome today
One of topic.
In order to overcome above-mentioned deficiency, the present invention has built a kind of mechanical cleaning devices run trace modification method, the side
Method include using mechanical cleaning devices run trace amendment platform with identify glass entirely acquisition image relative position with
The travelling route of automatic modification mechanical cleaning devices, to solve above-mentioned technical problem.
Fig. 1 is the appearance profile that platform is corrected according to the mechanical cleaning devices run trace shown in embodiment of the present invention
Figure.
From the profile outline as can be seen that the platform include: 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 respectively indicating the difference of the platform
State.
Fig. 2 is the structure box that platform is corrected according to the mechanical cleaning devices run trace shown in 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, and the cleaning run trace for will determine is 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, continue to carry out the specific structure of mechanical cleaning devices run trace amendment platform of the invention further
Explanation.
Can also include: in the mechanical cleaning devices run trace amendment platform
The front end of the mechanical cleaning devices, including horizontally disposed two cameras is arranged in dual camera component；
Wherein, the dual camera component is for shooting front scenery, with obtain respectively left side scene image and
Right side scene image.
Can also include: in the mechanical cleaning devices run trace amendment platform
Disparity Analysis equipment is separately connected, for receiving the left side with two cameras of the dual camera component
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 based on the left side scene image as zone shift amount
Each region offset determine the parallax between the left side scene image and the right side scene image.
Can also include: in the mechanical cleaning devices run trace amendment platform
Focus adjustment equipment is connect with the dual camera component and the Disparity Analysis equipment respectively, for being based on institute
Stating parallax determines the main target shot in the left side scene image or the right side scene image 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 to left side scene image respectively and right side scene image carries out
Splicing is to obtain and export real-time stitching image.
Can also include: in the mechanical cleaning devices run trace amendment 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 executes Morphological scale-space processing, to obtain and export Morphological scale-space image；
Equipment is just known in region, connect with the Morphological scale-space equipment, for receiving the Morphological scale-space image, for
Whether the brightness value of each of Morphological scale-space image pixel 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 judging that the pixel is in the range of luminance values
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 will be described
Just know pixel region fitting and just knows image to obtain；
Image divides equipment, just knows equipment with the process of fitting treatment equipment and the region respectively and connect, for being based on institute
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 are calculated with it and are for each of glass left-side images pixel
The heart, around in 5 pixel, 5 pixel region the saturation degree of each pixel average value to be based on institute as its average staturation
The average staturation for stating each pixel in glass left-side images obtains the corresponding average staturation of the glass left-side images
Image obtains the corresponding average staturation figure of the glass image right based on the same treatment to the glass left-side images
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 executes statistics with histogram, obtain the histogram vectors of the corresponding saturation degree of the glass left-side images using as
First histogram vectors execute 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 executes statistics with histogram, obtain the histogram vectors of the corresponding saturation degree of the glass image using as third histogram
Vector；
Region determines equipment, connect with the histogram treatment equipment, in the first histogram vectors and third histogram
The mould of the difference of figure 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 knows image for 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 mechanical cleaning devices run trace amendment platform:
The track output equipment is also used to keep the clear of determination when the just knowledge image is confirmed as non-glass image
Clean run trace is constant, so that the mechanical cleaning devices walk on by determining cleaning run trace.
In addition, can also include: GPS positioning device in the mechanical cleaning devices run trace amendment platform, for connecing
The navigation data that GPS navigation satellite is sent is received, with the navigation position of the determination 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
At 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 plan has to reduce satellite launch quantity,
It is changed to by 18 satellite distributions on 6 tracks for being mutually 60 degree, however this scheme ensure satellite reliability cannot.
Carried out within 1988 Last modification again: 21 work stars and 3 spare star work are on 6 tracks for being mutually 60 degree.This
It is also working method used in GPS satellite.
GPS navigation system is to provide three-dimensional round-the-clockly to all parts of the world based on global 24 positioning satellites
A kind of radio-navigation positioning system of the information such as position, three-dimensional velocity.It is made of three parts, first is that 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 is that user apparatus part, is made of GPS receiver and satellite antenna.Civilian positioning accuracy is up to 10 meters
It is interior.
Platform is corrected using mechanical cleaning devices run trace of the invention, is held for mechanical cleaning devices in the prior art
The technical issues of easily colliding front glassware is imaged focal length first with 3-D image adjust automatically, recycles glassware
Imaging characteristics glass image is accurately partitioned into from the clear image obtained after focusing, finally, being 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 person skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications all are 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, anything that does not depart from the technical scheme of the invention are right according to the technical essence of the 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 modification method, the mechanical cleaning devices run trace that the method includes using
Amendment platform modifies the travelling route of mechanical cleaning devices, institute to identify glass in the relative position of entirely acquisition image automatically
Stating mechanical cleaning devices run trace amendment 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 are based on institute
It states real-time dust concentration and determines corresponding cleaning dynamics；
Track output equipment is connect with the mechanical cleaning devices, and the cleaning run trace for will determine is 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. the method as described in claim 1, which is characterized in that the platform further include:
The front end of the mechanical cleaning devices, including horizontally disposed two cameras is arranged in dual camera component；
Wherein, the dual camera component is for shooting front scenery, to obtain left side scene image and right side respectively
Scene image.
3. method according to claim 2, which is characterized in that the platform further include:
Disparity Analysis equipment is separately connected, for receiving the left side scenery with two cameras of the dual camera component
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. method as claimed in claim 3, which is characterized in that the platform further include:
Focus adjustment equipment is connect with the dual camera component and the Disparity Analysis equipment respectively, for being based on the view
Difference determines the main target shot in the left side scene image or the right side scene image 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 to left side scene image respectively and right side scene image splices
To obtain and export real-time stitching image.
5. method as claimed in claim 4, which is characterized in that the platform further include:
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 execute Morphological scale-space processing, to obtain and export Morphological scale-space image；
Equipment is just known in region, connect with the Morphological scale-space equipment, for receiving the Morphological scale-space image, for described
Whether the brightness value of each of Morphological scale-space image pixel 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 judging that the pixel is initial in the range of luminance values
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 just knows for receiving the just knowledge pixel region, and by described
Pixel region fitting just knows image to obtain；
Image division equipment is just known equipment with the process of fitting treatment equipment and the region respectively and is connect, for based on described first
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 of glass left-side images pixel, calculate it is centered on it,
The average value of the saturation degree of each pixel is to be based on the glass as its average staturation in surrounding 5 pixel, 5 pixel region
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 executed with degree image, obtains the histogram vectors of the corresponding saturation degree of the glass left-side images using as first
Histogram vectors execute 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 executing 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, 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
When 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. method as claimed in claim 5, it is characterised in that:
The track output equipment is also used to keep determining cleaning row when the just knowledge image is confirmed as non-glass image
Walk that track is constant, so that the mechanical cleaning devices walk on by determining cleaning run trace.
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| CN201810116615.9A CN109118524A (en) | 2018-02-06 | 2018-02-06 | Mechanical cleaning devices run trace modification method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117274227A (en) * | 2023-10-23 | 2023-12-22 | 宁波市宇星水表有限公司 | Water meter surface state management system |
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