Dirt recognizing system of cleaning robot and cleaning method

A cleaning robot and recognition system technology, which is applied in the cleaning robot dirt recognition system and cleaning field, can solve the problems of inaccurate correction of indications, failure to consider the influence of the gray scale of the light image, and the influence of the cleanliness of the attachments, etc.

Inactive Publication Date: 2012-08-01
FUDAN UNIV
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Problems solved by technology

This method can improve the efficiency of the cleaning robot to a certain extent, but it has the following disadvantages: 1. Because the light level of the ground in the same room is affected by the weather and indoor lighting, the light distribution at different positions at the same time is uneven, and the light at the same position at different times It will also be different, image processing is performed directly through the overall photo, without considering the impact of light on the gray scale of the image; 2. This method uses the readings of the dust sensor during the actual cleaning process for correction. In actual situations, the dirt on the ground inclu

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  • Dirt recognizing system of cleaning robot and cleaning method
  • Dirt recognizing system of cleaning robot and cleaning method
  • Dirt recognizing system of cleaning robot and cleaning method

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Embodiment Construction

[0019] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and by taking an intelligent cleaning robot as an example.

[0020] figure 1 A block diagram for the dirt recognition system, figure 2 A block diagram of the dust identification device, image 3 It is a block diagram of the attachment identification device. combine figure 1 , figure 2 , image 3 , The dirt recognition system of the present invention includes: a dust recognition device and an attachment recognition device.

[0021] On both sides of the dust channel of the cleaning robot, there are light-emitting elements and light-receiving elements respectively, which constitute a dust sensor for detecting the amount of dust entering the dust channel; LED surface light sources corresponding to the measured range are evenly distributed on the bottom of the cleaning robot, and the bottom There is a wide-angle CCD camera in the center. An...

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Abstract

The invention belongs to the technical field of cleaning robots, and particularly relates to a dirt recognizing system of a cleaning robot and a cleaning method. The dirt recognizing system, namely a detecting unit, comprises a dust recognizing device and an attachment recognizing device. The dust recognizing device, namely a dust sensor, comprises a light transmitting element and a light receiving element. The dirt recognizing device comprises an image acquiring unit and an image processing unit. The cleaning method includes dust suction and floor mopping, dust suction time and power are determined by dust quantity detected in real time, and floor mopping frequency is determined by the quantity of attachment on floors. The system has an ability of actively recognizing dirt, cleaning force and cleaning time can be adjusted in real time according to the dirt quantity, and accordingly the floors are cleaned efficiently on the premise of guaranteeing cleaning quality.

Description

technical field [0001] The invention belongs to the field of cleaning robots, and in particular relates to a cleaning robot dirt recognition system and a cleaning method. Background technique [0002] In the existing intelligent cleaning robot products and related technologies, most intelligent cleaning robots cannot autonomously perceive the amount of dirt in the area to be cleaned. Only traversal cleaning of ground other than obstacles can be achieved. Combined with the actual situation, the cleanliness of the ground at different locations varies greatly. Blindly using the same cleaning method without considering the actual cleanliness of the ground may cause waste of resources or unclean cleaning of special locations. [0003] In response to the above situation, there are currently technologically improved intelligent cleaning robots, which can take overall pictures of the area to be cleaned through the camera installed in front of the robot, and then process the image t...

Claims

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Application Information

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IPC IPC(8): A47L11/20A47L11/40
Inventor 陆起涌杨絮贾思强高翔
Owner FUDAN UNIV
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