Self-adaptive adjustment method for cleaning brush angle of motor sweeper

Abstract

The invention relates to the technical field of image processing, in particular to a self-adaptive adjustment method for the angle of a cleaning brush of a sweeper, which comprises the following steps of: acquiring a plurality of frames of pavement images, dividing the images into a plurality of image areas, acquiring Lab color differences of pixel points of the image areas, acquiring local color abnormity degree and overall color abnormity degree according to the Lab color differences, and adjusting the angle of the cleaning brush of the sweeper. Obtaining attention according to the local color anomaly degree and the overall color anomaly degree, determining an initial seed point according to the attention, performing superpixel segmentation on the pavement image according to the initial seed point, and selecting small-size superpixels; and obtaining an abnormal rate of the small-size superpixels according to the small-size superpixels and target superpixels at corresponding positions in a next frame of image, redistributing the superpixels according to the abnormal rate to obtain a final superpixel image, and obtaining a pavement feature category and confidence according to the final superpixel image. According to the method, the pavement feature categories can be accurately recognized, and then control over the cleaning brush is achieved.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to an adaptive adjustment method for the angle of a cleaning brush of a cleaning vehicle. Background technique [0002] Existing sweepers use the sweeping brushes at the bottom of the frame to clean the garbage. Most sweepers have a fixed sweeping brush angle and height. When faced with complex road conditions, the sweeping brushes may have poor contact with the ground or obstacles. In case of collision with objects, it will lead to the leakage of garbage or the wear of the cleaning brushes. The angle and height of the cleaning brushes of a small number of sweepers can be adjusted, but the operator needs to judge the road conditions according to experience and manually adjust the angle and height of the cleaning brushes. [0003] However, the road surface situation is more complex, not only including the road surface itself and the road features such as garbage. When there ...

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Problems solved by technology

[0005] The invention provides a self-adaptive adjustment method for the

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