An intelligent glass cleaning robot control system based on image acquisition

Abstract

The invention discloses an intelligent glass cleaning manipulator control system based on image acquisition. A first collection module collects a current image R1 of target glass under light. R1 is grayed to get a first image T1, and the total area Q1 of regions of which the gray values are greater than a first gray value A1 in T1 is calculated. A shading module shades the target glass under the control of an instruction. A second collection module collects a current image R2 of the target glass under shade. R2 is grayed to get a second image T2, and the total area Q2 of regions of which the gray values are greater than a second gray value A2 in T2 is calculated. The sum Q3 of Q1 and Q2 is compared with a preset area value. A cleaning manipulator cleans the target glass under control according to the comparison result.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an image acquisition-based intelligent glass cleaning robot hand control system. Background technique [0002] Windows are the main source of light for home life. Most of the window glass is transparent and not resistant to dirt. Therefore, once dust rises, and after it rains and snows, the window glass is easily stained. Traditional window cleaning is It is not only time-consuming and labor-intensive to do it manually, but also the required labor cost is quite expensive. [0003] As far as high-rise residential buildings are concerned, especially the large window glass surface that cannot be opened, because the floor is high, the cleaning process is extremely dangerous, so it must be cleaned regularly and professionally by a dedicated person. This makes the residents very passive. Even if the glass surface of the windows in the home is already dirty, it cannot be cleaned accordi...

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