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Multifunctional smart cleaning robot apparatus

A cleaning robot, multi-functional technology, applied in the field of robotics, can solve the problem of not having the function of scene judgment

Inactive Publication Date: 2016-08-10
吴本刚
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current cleaning robot device does not have the scene judgment function

Method used

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  • Multifunctional smart cleaning robot apparatus

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] see figure 1 In this embodiment, the multifunctional intelligent cleaning robot device includes a cleaning robot device and a scene recognition device installed on the cleaning robot device, and the scene recognition device includes:

[0043] (1) Image preprocessing module, which includes an image conversion submodule for converting a color image into a grayscale image and an image filtering submodule for filtering the grayscale image, the image of the image conversion submodule The grayscale conversion formula is:

[0044] I ( x , y ) = m a x ( R ( ...

Embodiment 2

[0072] see figure 1 In this embodiment, the multifunctional intelligent cleaning robot device includes a cleaning robot device and a scene recognition device installed on the cleaning robot device, and the scene recognition device includes:

[0073] (1) Image preprocessing module, which includes an image conversion submodule for converting a color image into a grayscale image and an image filtering submodule for filtering the grayscale image, the image of the image conversion submodule The grayscale conversion formula is:

[0074] I ( x , y ) = m a x ( R ( ...

Embodiment 3

[0102] see figure 1 In this embodiment, the multifunctional intelligent cleaning robot device includes a cleaning robot device and a scene recognition device installed on the cleaning robot device, and the scene recognition device includes:

[0103] (1) Image preprocessing module, which includes an image conversion submodule for converting a color image into a grayscale image and an image filtering submodule for filtering the grayscale image, the image of the image conversion submodule The grayscale conversion formula is:

[0104] I ( x , y ) = m a x ( R ( ...

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Abstract

The invention discloses a multifunctional smart cleaning robot apparatus which comprises a cleaning robot apparatus and a scenario identifying device mounted on the cleaning robot apparatus. The scenario identifying device comprises a pre-treatment module for images, an image extreme point detection module, an image characteristic point positioning module, a principal direction determining module and a characteristics extracting module and a scenario determining module. The image characteristic point positioning module determines the extreme points of characteristics points by sorting out the low contrast ratio points sensitive to noises and the unstable marginal points. The principal direction determining module connects any two adjacent peak values in the histograms of oriented gradients for the characteristic points to form a plurality of sub-line sections wherein adjacent sub-line sections with similar gradients are consolidated in the length direction to form line sections. The direction of the most optimal one of the line sections is regarded as the principal direction of the characteristic points. According to the invention, high identifying accuracy for scenarios and high speed can be achieved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multifunctional intelligent cleaning robot device. Background technique [0002] The judgment of the scene plays an important role for any machine to exert its maximum effect. If the cleaning robot device can judge the scene it is in and select the corresponding mode for hygienic cleaning, the efficiency will be greatly improved. However, current cleaning robot devices do not have a scene judgment function. In addition, in order to process large-scale image data, it is necessary to improve analysis processing efficiency and accuracy. Contents of the invention [0003] In view of the above problems, the present invention provides a multifunctional intelligent cleaning robot device. [0004] The object of the present invention adopts following technical scheme to realize: [0005] Provided is a multifunctional intelligent cleaning robot device capable of recognizing scenes, including a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/62A47L11/40
CPCA47L11/40A47L2201/00G06V20/10G06V10/50G06V10/56G06F18/22
Inventor 吴本刚
Owner 吴本刚
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