Water control method and system for mopping robot based on visual recognition

Abstract

The present invention provides a water usage control method and system for a mopping robot based on visual recognition, which visually recognizes the working floor and determines the stains present on the working floor. When the mopping robot moves along a corresponding motion path and approaches the stain, the posture of the cleaning component and the amount of clean water delivered to the cleaning component are adjusted according to the shape of the stain, so that the cleaning component can comprehensively and thoroughly clean the stain. The operating parameters for sewage adsorption are also adjusted according to the generation of sewage during the cleaning process, effectively preventing sewage from remaining on the floor and forming water stains, thereby improving the thoroughness and reliability of the mopping robot's cleaning.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a water use control method and system for a mopping robot based on visual recognition. Background Art

[0002] Mopping robots are able to perform wet water cleaning operations on the ground, thereby performing targeted cleaning of stains on the ground. During the cleaning process, existing mopping robots will spray clean water onto the stained area on the ground, and then use a roller brush to clean the stained area, thereby achieving targeted removal of stains. The amount of clean water sprayed by the mopping robot on the stained area is fixed, so that when the area of ​​the stained area is large, the amount of clean water sprayed cannot fully clean the entire stained area. At the same time, after the roller brush completes the cleaning operation, sewage is likely to remain on the ground, forming water stains on the ground, making it impossible to achieve a thorough cleaning of the ground. It can be seen that the cleaning mode of the existing mopping robot cannot adjust the amount of clean water used according to the size of the stained area, and there is also the problem of sewage remaining on the ground, which reduces the thoroughness and reliability of the mopping robot's cleaning. Summary of the Invention

[0003] In response to the defects of the prior art, the present invention provides a water control method and system for a mopping robot based on visual recognition. The method collects and analyzes the working floor speakers of the mopping robot to obtain the location and position shape of the stains on the working floor, thereby determining the motion path of the mopping robot and the relative position relationship between the cleaning components of the mopping robot and the stains, thereby adjusting the posture of the cleaning components and determining the operating parameters for delivering clean water to the cleaning components. During the cleaning process of the cleaning components, the method collects and analyzes images of the cleaning area to obtain information on the presence of sewage, and adjusts the operating parameters of the mopping robot for sewage adsorption in the cleaning area. The method visually recognizes the working floor and determines the stains on the working floor. When the mopping robot moves along the corresponding motion path and approaches the stains, the method adjusts the posture of the cleaning components and the amount of clean water delivered to the cleaning components according to the shape of the stains, so that the cleaning components can comprehensively and thoroughly clean the stains. The method also adjusts the operating parameters for sewage adsorption according to the generation of sewage during the cleaning process, effectively preventing sewage from remaining on the floor and forming water stains, thereby improving the thoroughness and reliability of the mopping robot's cleaning.

[0004] The present invention provides a method for controlling water consumption of a mopping robot based on visual recognition, comprising the following steps:

[0005] Step S1, collecting an image of the working floor of the mopping robot, analyzing and processing the image of the working floor to obtain information on the location and shape of stains on the working floor; and determining a motion path for the mopping robot to move to the location of the stain based on the stain location information;

[0006] Step S2: When the mopping robot moves to the location of the stain, the relative positional relationship between the cleaning component of the mopping robot and the stain is determined based on the stain shape information; the posture of the cleaning component is adjusted based on the relative positional relationship; and the operating parameters for delivering clean water to the cleaning component are determined based on the stain shape information.

[0007] In step S3, during the process of the cleaning component cleaning the stains, an image of the cleaning area is collected; the image of the cleaning area is analyzed and processed to determine the status information of sewage in the cleaning area; and according to the sewage status information, the operating parameters of the mopping robot for adsorbing sewage in the cleaning area are adjusted.

[0008] Furthermore, in step S1, an image of the working floor of the mopping robot is collected, and the image of the working floor is analyzed and processed to obtain information on the location and shape of the stains on the working floor; and a motion path of the mopping robot to the location of the stains is determined based on the stain location information, including:

[0009] Scan and photograph the working ground where the mopping robot is currently located to obtain an image of the working ground;

[0010] Demarcating the stain areas on the work floor according to the chromaticity distribution information of the work floor image, and then extracting the boundary contour information of each stain area from the work floor image;

[0011] Determine the geometric center position information and the stain area and distribution range information of each stain region according to the boundary contour information, and use them as the stain position information and the stain morphology information respectively;

[0012] According to the transformation relationship between the camera space coordinate system of the mopping robot and the motion space coordinate system, the geometric center position of the stain area is mapped to the motion space coordinate system;

[0013] The motion path of the mopping robot to the location of the stain is determined according to the geometric center position of the stain area in the motion space coordinate system.

[0014] Furthermore, in step S1, determining the motion path of the mopping robot to the location of the stain according to the geometric center position of the stain area in the motion space coordinate system includes:

[0015] determining all obstacles between the mopping robot and the stained area based on the geometric center position of the stained area and the position of the mopping robot in the motion space coordinate system;

[0016] According to the position of each obstacle in the motion space coordinate system, the shortest motion path for the mopping robot to move to the location of the stain while avoiding all obstacles is determined.

[0017] Furthermore, in step S2, when the mopping robot moves to the location of the stain, the relative positional relationship between the cleaning component of the mopping robot and the stain is determined based on the stain shape information; the posture of the cleaning component is adjusted based on the relative positional relationship; and the operating parameters for delivering clean water to the cleaning component are determined based on the stain shape information, including:

[0018] When the mopping robot moves to the location of the stain, the direction of the longest dimension of the stain coverage area is obtained based on the stain distribution range information included in the stain morphology information, and the angle between the length direction of the cleaning component of the mopping robot and the direction of the longest dimension is determined, and this is used as the relative position relationship between the cleaning component and the stain;

[0019] According to the angle, adjusting the posture of the cleaning component so that the length direction of the cleaning component is parallel to the direction of the longest dimension;

[0020] The volume value of the clean water delivered to the cleaning component is determined according to the stain area information included in the stain morphology information.

[0021] Furthermore, in step S3, during the process of the cleaning component cleaning the stains, an image of the cleaning area is collected; the image of the cleaning area is analyzed and processed to determine information about the presence of sewage in the cleaning area; and according to the information about the presence of sewage, operating parameters of the mopping robot for adsorbing sewage in the cleaning area are adjusted, including:

[0022] During the process of the cleaning member cleaning the stains, an image of the floor area corresponding to the cleaning operation performed by the cleaning member is collected as the cleaning area image;

[0023] Performing pixel texture distribution recognition processing on the clean area image to determine sewage distribution area information in the clean area as the sewage presence status information;

[0024] According to the sewage distribution area information, the negative pressure adsorption force of the mopping robot for adsorbing sewage in the cleaning area is adjusted.

[0025] The present invention also provides a water control system for a mopping robot based on visual recognition, comprising:

[0026] A working floor image acquisition and analysis module is used to acquire working floor images of the mopping robot, analyze and process the working floor images, and obtain information on the location and shape of stains on the working floor;

[0027] a motion path determination module, configured to determine a motion path for the mopping robot to move to the location of the stain based on the stain location information;

[0028] a cleaning operation adjustment module for determining, when the mopping robot moves to the location of a stain, a relative positional relationship between a cleaning component of the mopping robot and the stain based on the stain shape information; adjusting the posture of the cleaning component based on the relative positional relationship; and further determining operating parameters for delivering clean water to the cleaning component based on the stain shape information;

[0029] The cleaning area image acquisition and analysis module is used to acquire the cleaning area image during the process of the cleaning component cleaning the stains; analyze and process the cleaning area image to determine the status information of the sewage in the cleaning area;

[0030] The sewage adsorption operation adjustment module is used to adjust the operation parameters of the mopping robot for adsorbing sewage in the cleaning area according to the sewage presence status information.

[0031] Furthermore, the working floor image acquisition and analysis module is used to acquire working floor images of the mopping robot, analyze and process the working floor images, and obtain stain location information and stain morphology information on the working floor, including:

[0032] Scan and photograph the working ground where the mopping robot is currently located to obtain an image of the working ground;

[0033] Demarcating the stain areas on the work floor according to the chromaticity distribution information of the work floor image, and then extracting the boundary contour information of each stain area from the work floor image;

[0034] Determine the geometric center position information and the stain area and distribution range information of each stain region according to the boundary contour information, and use them as the stain position information and the stain morphology information respectively;

[0035] The motion path determination module is used to determine the motion path of the mopping robot to the location of the stain according to the stain location information, including:

[0036] According to the transformation relationship between the camera space coordinate system of the mopping robot and the motion space coordinate system, the geometric center position of the stain area is mapped to the motion space coordinate system;

[0037] The motion path of the mopping robot to the location of the stain is determined according to the geometric center position of the stain area in the motion space coordinate system.

[0038] Furthermore, the motion path determination module further determines all obstacles between the mopping robot and the stained area based on the geometric center position of the stained area and the position of the mopping robot in the motion space coordinate system;

[0039] According to the position of each obstacle in the motion space coordinate system, the shortest motion path for the mopping robot to move to the location of the stain while avoiding all obstacles is determined.

[0040] Furthermore, the cleaning operation adjustment module is configured to determine, when the mopping robot moves to the location of the stain, a relative positional relationship between a cleaning component of the mopping robot and the stain based on the stain shape information; adjust the posture of the cleaning component based on the relative positional relationship; and further determine operating parameters for delivering clean water to the cleaning component based on the stain shape information, including:

[0041] When the mopping robot moves to the location of the stain, the direction of the longest dimension of the stain coverage area is obtained based on the stain distribution range information included in the stain morphology information, and the angle between the length direction of the cleaning component of the mopping robot and the direction of the longest dimension is determined, and this is used as the relative position relationship between the cleaning component and the stain;

[0042] According to the angle, adjusting the posture of the cleaning component so that the length direction of the cleaning component is parallel to the direction of the longest dimension;

[0043] The volume value of the clean water delivered to the cleaning component is determined according to the stain area information included in the stain morphology information.

[0044] Furthermore, the cleaning area image acquisition and analysis module is used to acquire a cleaning area image during the cleaning process of the cleaning component; analyze and process the cleaning area image to determine the status information of sewage in the cleaning area, including:

[0045] During the process of the cleaning member cleaning the stains, an image of the floor area corresponding to the cleaning operation performed by the cleaning member is collected as the cleaning area image;

[0046] Performing pixel texture distribution recognition processing on the clean area image to determine sewage distribution area information in the clean area as the sewage presence status information;

[0047] The sewage adsorption operation adjustment module is used to adjust the operation parameters of the mopping robot for adsorbing sewage in the cleaning area according to the sewage presence status information, including:

[0048] According to the sewage distribution area information, the negative pressure adsorption force of the mopping robot for adsorbing sewage in the cleaning area is adjusted.

[0049] Compared with the existing technology, the water control method and system of the mopping robot based on visual recognition collects and analyzes the working floor speaker of the mopping robot to obtain the position and position shape of the stains on the working floor, thereby determining the movement path of the mopping robot and the relative position relationship between the cleaning components of the mopping robot and the stains, thereby adjusting the posture of the cleaning components and determining the operating parameters for transporting clean water to the cleaning components; during the cleaning process of the cleaning components, the images of the cleaning area are collected and analyzed to obtain the status information of sewage existence, and the operating parameters of the mopping robot for sewage adsorption in the cleaning area are adjusted. It visually recognizes the working floor and determines the stains on the working floor. When the mopping robot moves along the corresponding movement path and approaches the stains, it adjusts the posture of the cleaning components and the amount of clean water transported to the cleaning components according to the shape of the stains, so that the cleaning components can comprehensively and thoroughly clean the stains; it also adjusts the operating parameters for sewage adsorption according to the generation of sewage during the cleaning process, effectively avoiding sewage remaining on the ground and forming water stains, thereby improving the cleaning thoroughness and reliability of the mopping robot.

[0050] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0051] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 This is a flow chart of the water usage control method of the mopping robot based on visual recognition provided by the present invention.

[0054] Figure 2This is a structural diagram of the water control system of the mopping robot based on visual recognition provided by the present invention. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0056] See Figure 1 , is a flow chart of a method for controlling water usage of a mopping robot based on visual recognition according to an embodiment of the present invention. The method for controlling water usage of a mopping robot based on visual recognition comprises the following steps:

[0057] Step S1: capturing an image of the working floor of the mopping robot, analyzing and processing the image to obtain information on the location and shape of stains on the working floor; and determining a motion path for the mopping robot to move to the location of the stain based on the stain location information.

[0058] Step S2: When the mopping robot moves to the location of the stain, the relative positional relationship between the cleaning component of the mopping robot and the stain is determined based on the stain shape information; the posture of the cleaning component is adjusted based on the relative positional relationship; and the operating parameters for delivering clean water to the cleaning component are determined based on the stain shape information.

[0059] Step S3, while the cleaning component is cleaning the stains, an image of the cleaning area is collected; the image of the cleaning area is analyzed and processed to determine the status information of sewage in the cleaning area; and according to the sewage status information, the operating parameters of the mopping robot for adsorbing sewage in the cleaning area are adjusted.

[0060] The beneficial effects of the above technical solution are as follows: the water control method of the mopping robot based on visual recognition collects and analyzes the working floor speaker of the mopping robot to obtain the position and position shape of the stains on the working floor, thereby determining the movement path of the mopping robot and the relative position relationship between the cleaning components of the mopping robot and the stains, thereby adjusting the posture of the cleaning components and determining the operating parameters for transporting clean water to the cleaning components; during the cleaning process of the cleaning components, the cleaning area image is collected and analyzed to obtain sewage presence status information, and the operating parameters of the mopping robot for sewage adsorption in the cleaning area are adjusted. It visually recognizes the working floor and determines the stains on the working floor. When the mopping robot moves along the corresponding movement path and approaches the stains, it adjusts the posture of the cleaning components and the amount of clean water transported to the cleaning components according to the shape of the stains, so that the cleaning components can comprehensively and thoroughly clean the stains; it also adjusts the operating parameters for sewage adsorption according to the sewage generation during the cleaning process, effectively avoiding sewage remaining on the ground and forming water stains, thereby improving the cleaning thoroughness and reliability of the mopping robot.

[0061] Preferably, in step S1, an image of the working floor of the mopping robot is collected, and the image of the working floor is analyzed and processed to obtain information on the location and shape of the stains on the working floor; and a motion path of the mopping robot to the location of the stain is determined based on the stain location information, including:

[0062] Scan and photograph the working ground where the mopping robot is currently located to obtain an image of the working ground;

[0063] Demarcate the stain areas on the work floor according to the chromaticity distribution information of the work floor image, and then extract the boundary contour information of each stain area from the work floor image;

[0064] According to the boundary contour information, the geometric center position information and the stain area and distribution range information of each stain region are determined, which are used as the stain position information and the stain morphology information respectively;

[0065] According to the transformation relationship between the camera space coordinate system of the mopping robot and the motion space coordinate system, the geometric center position of the stain area is mapped to the motion space coordinate system;

[0066] The motion path of the mopping robot to the location of the stain is determined according to the geometric center position of the stain area in the motion space coordinate system.

[0067] The above technical solution has the following beneficial effects: the mopping robot is an autonomous mopping robot, comprising an imaging component, a cleaning component, a fresh water delivery component, and a negative pressure suction component. The imaging component may be a scanning camera for capturing images of the floor environment within the mopping robot. The cleaning component may be a roller brush for cleaning the floor. The fresh water delivery component may include a fresh water tank and a delivery pump. The delivery pump delivers fresh water stored in the fresh water tank to the cleaning component via a pipeline to moisten the surface of the cleaning component and improve floor cleaning efficiency. The negative pressure suction component may include a sewage tank and a negative pressure suction pump. The negative pressure suction pump absorbs sewage from the floor and then delivers the sewage to the sewage tank via corresponding pipelines for collection. In actual operation, the imaging component scans and captures an image of the floor where the mopping robot is working, and then identifies and analyzes the work floor image. Since the chromaticity of the image of stains on the floor will be different from that of areas without stains, the chromaticity distribution information in the image can be used to accurately demarcate the area covered by the stains on the floor, thereby determining the boundary contour information of each stained area. Using the boundary contour information as a reference, the geometric center position information of each stain area and the stain area and distribution range can be quantitatively calculated, thereby accurately quantifying the stain area. Since the shooting space coordinate system corresponding to the mopping robot's camera device is different from the motion space coordinate system corresponding to the mopping robot's movement on the ground, in order to control the mopping robot to accurately move to the location of the stain, the geometric center position of the stain area needs to be calibrated in the motion space coordinate system of the mopping robot. Based on the transformation relationship between the mopping robot's camera space coordinate system and the motion space coordinate system, the geometric center position of the stain area is mapped to the motion space coordinate system, which can accurately locate the geometric center position of the stain area in the motion space coordinate system.

[0068] Preferably, in step S1, determining the motion path of the mopping robot to the location of the stain according to the geometric center position of the stain area in the motion space coordinate system includes:

[0069] determining all obstacles between the mopping robot and the stained area based on the geometric center position of the stained area and the position of the mopping robot in the motion space coordinate system;

[0070] According to the position of each obstacle in the motion space coordinate system, the shortest motion path for the mopping robot to move to the location of the stain while avoiding all obstacles is determined.

[0071] The beneficial effect of the above technical solution is that when the mopping robot is working, there may be obstacles on the ground. All obstacles in the area between the geometric center position of the stain area and the current position of the mopping robot are located in the motion space coordinate system. In this way, the mopping robot can move to the shortest motion path where the stain is located while avoiding all obstacles. This can ensure that the mopping robot moves to the location of the stain quickly and safely.

[0072] Preferably, in step S2, when the mopping robot moves to the location of the stain, the relative positional relationship between the cleaning component of the mopping robot and the stain is determined based on the stain shape information; the posture of the cleaning component is adjusted based on the relative positional relationship; and the operating parameters for delivering clean water to the cleaning component are determined based on the stain shape information, including:

[0073] When the mopping robot moves to the location of the stain, the longest dimension of the stain-covered area is determined based on the stain distribution range information included in the stain morphology information. The angle between the length direction of the mopping robot's cleaning component and the longest dimension is determined, and this angle is used as the relative positional relationship between the cleaning component and the stain.

[0074] According to the angle, the posture of the cleaning component is adjusted so that the length direction of the cleaning component is parallel to the direction of the longest dimension;

[0075] The volume value of the clean water delivered to the cleaning component is determined according to the stain area information included in the stain morphology information.

[0076] The beneficial effect of the above technical solution is as follows: when the mopping robot moves to the location of the stain, it obtains the direction of the longest dimension of the stain coverage area (that is, the direction of the longest span corresponding to the coverage of the stain on the ground) based on the stain distribution range information (that is, the coverage range of the stain on the ground), and then calculates the angle between the length direction of the cleaning component of the mopping robot and the direction of the longest dimension, so as to facilitate the accurate adjustment of the length direction of the cleaning component (such as the roller brush) to be parallel to the direction of the longest dimension. This ensures that the cleaning component has the maximum contact area with the stain during the cleaning process, thereby improving the cleaning efficiency. In addition, the volume value of the clean water supplied to the cleaning component is adjusted according to the size of the stain area to ensure that there is sufficient clean water on the surface of the cleaning component to clean the stain. Generally speaking, the larger the area of ​​the stain, the larger the volume value of the clean water supplied to the cleaning component.

[0077] Preferably, in step S3, during the process of the cleaning component cleaning the stains, an image of the cleaning area is collected; the image of the cleaning area is analyzed and processed to determine information on the presence of sewage in the cleaning area; and according to the information on the presence of sewage, operating parameters of the mopping robot for absorbing sewage in the cleaning area are adjusted, including:

[0078] During the process of the cleaning component cleaning the stains, an image of the floor area corresponding to the cleaning operation performed by the cleaning component is collected as the cleaning area image;

[0079] Perform pixel texture distribution recognition processing based on the clean area image to determine the sewage distribution area information in the clean area, which is used as the sewage presence status information;

[0080] According to the sewage distribution area information, the negative pressure adsorption force of the mopping robot to adsorb the sewage in the cleaning area is adjusted.

[0081] The beneficial effect of the above technical solution is as follows: while the cleaning component is cleaning the stains, the camera component is instructed to collect images of the ground area corresponding to the cleaning operation performed by the cleaning component. Since the surface of the cleaning component is stained with clean water, it is inevitable that sewage will remain on the ground during the cleaning process. By performing pixel texture distribution recognition processing on the image of the cleaning area, the size of the sewage distribution area in the cleaning area can be obtained. At this time, the negative pressure adsorption component of the mopping robot is used to negatively adsorb the sewage with a corresponding negative pressure adsorption force to prevent the sewage from remaining on the ground and forming water stains. Generally speaking, the larger the sewage distribution area in the cleaning area, the greater the negative pressure adsorption force provided by the negative pressure adsorption component, thereby maximizing the efficiency of sewage adsorption.

[0082] See Figure 2 , which is a flow chart of a water control system for a mopping robot based on visual recognition according to an embodiment of the present invention. The water control system for a mopping robot based on visual recognition includes:

[0083] The working floor image acquisition and analysis module is used to acquire the working floor image of the mopping robot, analyze and process the working floor image, and obtain the stain location information and stain morphology information on the working floor;

[0084] a motion path determination module, configured to determine a motion path for the mopping robot to move to the location of the stain based on the stain location information;

[0085] a cleaning operation adjustment module for determining, when the mopping robot moves to the location of a stain, the relative positional relationship between a cleaning component of the mopping robot and the stain based on the stain shape information; adjusting the posture of the cleaning component based on the relative positional relationship; and determining operating parameters for delivering clean water to the cleaning component based on the stain shape information;

[0086] The cleaning area image acquisition and analysis module is used to acquire the cleaning area image during the cleaning process of the cleaning component; analyze and process the cleaning area image to determine the status information of sewage in the cleaning area;

[0087] The sewage adsorption operation adjustment module is used to adjust the operating parameters of the mopping robot for sewage adsorption in the cleaning area according to the sewage status information.

[0088] The beneficial effects of the above technical solution are as follows: the water control system of the mopping robot based on visual recognition collects and analyzes the working floor speakers of the mopping robot to obtain the position and position shape of the stains on the working floor, thereby determining the movement path of the mopping robot and the relative position relationship between the cleaning components of the mopping robot and the stains, thereby adjusting the posture of the cleaning components and determining the operating parameters for delivering clean water to the cleaning components; during the cleaning process of the cleaning components, it collects and analyzes images of the cleaning area to obtain information on the presence of sewage, and adjusts the operating parameters of the mopping robot for sewage adsorption in the cleaning area. It visually recognizes the working floor and determines the stains on the working floor. When the mopping robot moves along the corresponding movement path and approaches the stains, it adjusts the posture of the cleaning components and the amount of clean water delivered to the cleaning components according to the shape of the stains, so that the cleaning components can comprehensively and thoroughly clean the stains; it also adjusts the operating parameters for sewage adsorption according to the generation of sewage during the cleaning process, effectively preventing sewage from remaining on the ground and forming water stains, thereby improving the thoroughness and reliability of the cleaning of the mopping robot.

[0089] Preferably, the working floor image acquisition and analysis module is used to acquire working floor images of the mopping robot, analyze and process the working floor images, and obtain stain location information and stain morphology information on the working floor, including:

[0090] Scan and photograph the working ground where the mopping robot is currently located to obtain an image of the working ground;

[0091] Demarcate the stain areas on the work floor according to the chromaticity distribution information of the work floor image, and then extract the boundary contour information of each stain area from the work floor image;

[0092] According to the boundary contour information, the geometric center position information and the stain area and distribution range information of each stain region are determined, which are used as the stain position information and the stain morphology information respectively;

[0093] The motion path determination module is used to determine the motion path of the mopping robot to the location of the stain according to the stain location information, including:

[0094] According to the transformation relationship between the camera space coordinate system of the mopping robot and the motion space coordinate system, the geometric center position of the stain area is mapped to the motion space coordinate system;

[0095] The motion path of the mopping robot to the location of the stain is determined according to the geometric center position of the stain area in the motion space coordinate system.

[0096] The above technical solution has the following beneficial effects: the mopping robot is an autonomous mopping robot, comprising an imaging component, a cleaning component, a fresh water delivery component, and a negative pressure suction component. The imaging component may be a scanning camera for capturing images of the floor environment within the mopping robot. The cleaning component may be a roller brush for cleaning the floor. The fresh water delivery component may include a fresh water tank and a delivery pump. The delivery pump delivers fresh water stored in the fresh water tank to the cleaning component via a pipeline to moisten the surface of the cleaning component and improve floor cleaning efficiency. The negative pressure suction component may include a sewage tank and a negative pressure suction pump. The negative pressure suction pump absorbs sewage from the floor and then delivers the sewage to the sewage tank via corresponding pipelines for collection. In actual operation, the imaging component scans and captures an image of the floor where the mopping robot is working, and then identifies and analyzes the work floor image. Since the chromaticity of the image of stains on the floor will be different from that of areas without stains, the chromaticity distribution information in the image can be used to accurately demarcate the area covered by the stains on the floor, thereby determining the boundary contour information of each stained area. Using the boundary contour information as a reference, the geometric center position information of each stain area and the stain area and distribution range can be quantitatively calculated, thereby accurately quantifying the stain area. Since the shooting space coordinate system corresponding to the mopping robot's camera device is different from the motion space coordinate system corresponding to the mopping robot's movement on the ground, in order to control the mopping robot to accurately move to the location of the stain, the geometric center position of the stain area needs to be calibrated in the motion space coordinate system of the mopping robot. Based on the transformation relationship between the mopping robot's camera space coordinate system and the motion space coordinate system, the geometric center position of the stain area is mapped to the motion space coordinate system, which can accurately locate the geometric center position of the stain area in the motion space coordinate system.

[0097] Preferably, the motion path determination module further determines all obstacles between the mopping robot and the stained area based on the geometric center position of the stained area and the position of the mopping robot in the motion space coordinate system;

[0098] According to the position of each obstacle in the motion space coordinate system, the shortest motion path for the mopping robot to move to the location of the stain while avoiding all obstacles is determined.

[0099] The beneficial effect of the above technical solution is that when the mopping robot is working, there may be obstacles on the ground. All obstacles in the area between the geometric center position of the stain area and the current position of the mopping robot are located in the motion space coordinate system. In this way, the mopping robot can move to the shortest motion path where the stain is located while avoiding all obstacles. This can ensure that the mopping robot moves to the location of the stain quickly and safely.

[0100] Preferably, the cleaning operation adjustment module is configured to determine, when the mopping robot moves to the location of the stain, a relative positional relationship between a cleaning component of the mopping robot and the stain based on the stain shape information; adjust the posture of the cleaning component based on the relative positional relationship; and further determine operating parameters for delivering clean water to the cleaning component based on the stain shape information, including:

[0101] When the mopping robot moves to the location of the stain, the longest dimension of the stain-covered area is determined based on the stain distribution range information included in the stain morphology information. The angle between the length direction of the mopping robot's cleaning component and the longest dimension is determined, and this angle is used as the relative positional relationship between the cleaning component and the stain.

[0102] According to the angle, the posture of the cleaning component is adjusted so that the length direction of the cleaning component is parallel to the direction of the longest dimension;

[0103] The volume value of the clean water delivered to the cleaning component is determined according to the stain area information included in the stain morphology information.

[0104] The beneficial effect of the above technical solution is as follows: when the mopping robot moves to the location of the stain, it obtains the direction of the longest dimension of the stain coverage area (that is, the direction of the longest span corresponding to the coverage of the stain on the ground) based on the stain distribution range information (that is, the coverage range of the stain on the ground), and then calculates the angle between the length direction of the cleaning component of the mopping robot and the direction of the longest dimension, so as to facilitate the accurate adjustment of the length direction of the cleaning component (such as the roller brush) to be parallel to the direction of the longest dimension. This ensures that the cleaning component has the maximum contact area with the stain during the cleaning process, thereby improving the cleaning efficiency. In addition, the volume value of the clean water supplied to the cleaning component is adjusted according to the size of the stain area to ensure that there is sufficient clean water on the surface of the cleaning component to clean the stain. Generally speaking, the larger the area of ​​the stain, the larger the volume value of the clean water supplied to the cleaning component.

[0105] Preferably, the cleaning area image acquisition and analysis module is used to acquire a cleaning area image during the cleaning process of the cleaning component; analyze and process the cleaning area image to determine the status information of sewage in the cleaning area, including:

[0106] During the process of the cleaning component cleaning the stains, an image of the floor area corresponding to the cleaning operation performed by the cleaning component is collected as the cleaning area image;

[0107] Perform pixel texture distribution recognition processing based on the clean area image to determine the sewage distribution area information in the clean area, which is used as the sewage presence status information;

[0108] The sewage adsorption operation adjustment module is used to adjust the operation parameters of the mopping robot for adsorbing sewage in the cleaning area according to the sewage presence status information, including:

[0109] According to the sewage distribution area information, the negative pressure adsorption force of the mopping robot to adsorb the sewage in the cleaning area is adjusted.

[0110] The beneficial effect of the above technical solution is as follows: while the cleaning component is cleaning the stains, the camera component is instructed to collect images of the ground area corresponding to the cleaning operation performed by the cleaning component. Since the surface of the cleaning component is stained with clean water, it is inevitable that sewage will remain on the ground during the cleaning process. By performing pixel texture distribution recognition processing on the image of the cleaning area, the size of the sewage distribution area in the cleaning area can be obtained. At this time, the negative pressure adsorption component of the mopping robot is used to negatively adsorb the sewage with a corresponding negative pressure adsorption force to prevent the sewage from remaining on the ground and forming water stains. Generally speaking, the larger the sewage distribution area in the cleaning area, the greater the negative pressure adsorption force provided by the negative pressure adsorption component, thereby maximizing the efficiency of sewage adsorption.

[0111] As can be seen from the contents of the above embodiments, the visual recognition-based water control method and system for a mopping robot collects and analyzes the working floor speakers of the mopping robot to obtain the location and position shape of the stains on the working floor, thereby determining the motion path of the mopping robot and the relative position relationship between the cleaning components of the mopping robot and the stains, thereby adjusting the posture of the cleaning components and determining the operating parameters for delivering clean water to the cleaning components; during the cleaning process of the cleaning components, images of the cleaning area are collected and analyzed to obtain information on the presence of sewage, and the operating parameters of the mopping robot for adsorbing sewage in the cleaning area are adjusted. The mopping robot visually recognizes the working floor and determines the presence of stains on the working floor. When the mopping robot moves along the corresponding motion path and approaches the stains, the posture of the cleaning components and the amount of clean water delivered to the cleaning components are adjusted according to the shape of the stains, so that the cleaning components can comprehensively and thoroughly clean the stains; the operating parameters for sewage adsorption are also adjusted according to the generation of sewage during the cleaning process, effectively preventing sewage from remaining on the floor and forming water stains, thereby improving the thoroughness and reliability of the mopping robot's cleaning.

[0112] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A water control method for a mopping robot based on visual recognition, characterized in that: The steps include: Step S1, collecting an image of the working floor of the mopping robot, analyzing and processing the image of the working floor to obtain information on the location and shape of stains on the working floor; and determining a motion path for the mopping robot to move to the location of the stain based on the stain location information; Step S2: When the mopping robot moves to the location of the stain, the relative position relationship between the cleaning component of the mopping robot and the stain is determined based on the stain shape information; and the posture of the cleaning component is adjusted based on the relative position relationship. Then, according to the stain morphology information, determining the operation parameters for delivering clean water to the cleaning component; Step S3, while the cleaning component is cleaning the stains, collecting an image of the cleaning area; analyzing and processing the image of the cleaning area to determine information about the presence of sewage in the cleaning area; and adjusting operating parameters of the mopping robot for sucking sewage from the cleaning area based on the information about the presence of sewage; In step S1, an image of the working floor of the mopping robot is collected, and the image of the working floor is analyzed and processed to obtain information on the location and shape of the stains on the working floor; and a motion path of the mopping robot to the location of the stains is determined based on the stain location information, including: Scan and photograph the working ground where the mopping robot is currently located to obtain an image of the working ground; Demarcating the stain areas on the work floor according to the chromaticity distribution information of the work floor image, and then extracting the boundary contour information of each stain area from the work floor image; Determine the geometric center position information and the stain area and distribution range information of each stain region according to the boundary contour information, and use them as the stain position information and the stain morphology information respectively; According to the transformation relationship between the camera space coordinate system of the mopping robot and the motion space coordinate system, the geometric center position of the stain area is mapped to the motion space coordinate system; determining a motion path of the mopping robot to the location of the stain according to the geometric center position of the stain area in the motion space coordinate system; In step S2, when the mopping robot moves to the location of the stain, the relative positional relationship between the cleaning component of the mopping robot and the stain is determined based on the stain shape information; the posture of the cleaning component is adjusted based on the relative positional relationship; and the operating parameters for delivering clean water to the cleaning component are determined based on the stain shape information, including: When the mopping robot moves to the location of the stain, the direction of the longest dimension of the stain coverage area is obtained based on the stain distribution range information included in the stain morphology information, and the angle between the length direction of the cleaning component of the mopping robot and the direction of the longest dimension is determined, and this is used as the relative position relationship between the cleaning component and the stain; According to the angle, adjusting the posture of the cleaning component so that the length direction of the cleaning component is parallel to the direction of the longest dimension; determining a volume value of clean water delivered to the cleaning component according to the stain area information included in the stain morphology information; In step S3, during the process of the cleaning component cleaning the stains, an image of the cleaning area is collected; the image of the cleaning area is analyzed and processed to determine information on the presence of sewage in the cleaning area; and according to the information on the presence of sewage, operating parameters of the mopping robot for adsorbing sewage in the cleaning area are adjusted, including: During the process of the cleaning member cleaning the stains, an image of the floor area corresponding to the cleaning operation performed by the cleaning member is collected as the cleaning area image; Performing pixel texture distribution recognition processing on the clean area image to determine sewage distribution area information in the clean area as the sewage presence status information; According to the sewage distribution area information, the negative pressure adsorption force of the mopping robot for adsorbing sewage in the cleaning area is adjusted.

2. The method for controlling water consumption of a mopping robot based on visual recognition according to claim 1, wherein: In step S1, determining the motion path of the mopping robot to the location of the stain according to the geometric center position of the stain area in the motion space coordinate system includes: determining all obstacles between the mopping robot and the stained area based on the geometric center position of the stained area and the position of the mopping robot in the motion space coordinate system; According to the position of each obstacle in the motion space coordinate system, the shortest motion path for the mopping robot to move to the location of the stain while avoiding all obstacles is determined.

3. The water control system of the mopping robot based on visual recognition is characterized by: include: A working floor image acquisition and analysis module is used to acquire working floor images of the mopping robot, analyze and process the working floor images, and obtain information on the location and shape of stains on the working floor; a motion path determination module, configured to determine a motion path for the mopping robot to move to the location of the stain based on the stain location information; a cleaning operation adjustment module for determining, when the mopping robot moves to the location of the stain, a relative positional relationship between a cleaning component of the mopping robot and the stain based on the stain morphology information; and adjusting the posture of the cleaning component based on the relative positional relationship; Then, according to the stain morphology information, determining the operation parameters for delivering clean water to the cleaning component; The cleaning area image acquisition and analysis module is used to acquire the cleaning area image during the process of the cleaning component cleaning the stains; analyze and process the cleaning area image to determine the status information of the sewage in the cleaning area; A sewage adsorption operation adjustment module is used to adjust the operation parameters of the mopping robot for adsorbing sewage in the cleaning area according to the sewage presence status information; The working floor image acquisition and analysis module is used to acquire working floor images of the mopping robot, analyze and process the working floor images, and obtain information on the location and shape of stains on the working floor, including: Scan and photograph the working ground where the mopping robot is currently located to obtain an image of the working ground; Demarcating the stain areas on the work floor according to the chromaticity distribution information of the work floor image, and then extracting the boundary contour information of each stain area from the work floor image; Determine the geometric center position information and the stain area and distribution range information of each stain region according to the boundary contour information, and use them as the stain position information and the stain morphology information respectively; The motion path determination module is used to determine the motion path of the mopping robot to the location of the stain according to the stain location information, including: According to the transformation relationship between the camera space coordinate system of the mopping robot and the motion space coordinate system, the geometric center position of the stain area is mapped to the motion space coordinate system; determining a motion path of the mopping robot to the location of the stain according to the geometric center position of the stain area in the motion space coordinate system; The cleaning operation adjustment module is configured to determine, when the mopping robot moves to the location of the stain, the relative positional relationship between the cleaning component of the mopping robot and the stain according to the stain shape information; adjust the posture of the cleaning component according to the relative positional relationship; and further determine the operating parameters for delivering clean water to the cleaning component according to the stain shape information, including: When the mopping robot moves to the location of the stain, the direction of the longest dimension of the stain coverage area is obtained based on the stain distribution range information included in the stain morphology information, and the angle between the length direction of the cleaning component of the mopping robot and the direction of the longest dimension is determined, and this is used as the relative position relationship between the cleaning component and the stain; According to the angle, adjusting the posture of the cleaning component so that the length direction of the cleaning component is parallel to the direction of the longest dimension; determining a volume value of clean water delivered to the cleaning component according to the stain area information included in the stain morphology information; The cleaning area image acquisition and analysis module is used to acquire a cleaning area image during the cleaning process of the cleaning component; analyze and process the cleaning area image to determine the status information of sewage in the cleaning area, including: During the process of the cleaning member cleaning the stains, an image of the floor area corresponding to the cleaning operation performed by the cleaning member is collected as the cleaning area image; Performing pixel texture distribution recognition processing on the clean area image to determine sewage distribution area information in the clean area as the sewage presence status information; The sewage adsorption operation adjustment module is used to adjust the operation parameters of the mopping robot for adsorbing sewage in the cleaning area according to the sewage presence status information, including: According to the sewage distribution area information, the negative pressure adsorption force of the mopping robot for adsorbing sewage in the cleaning area is adjusted.

4. The water control system for a mopping robot based on visual recognition according to claim 3, characterized in that: The motion path determination module further determines all obstacles between the mopping robot and the stained area based on the geometric center position of the stained area and the position of the mopping robot in the motion space coordinate system; According to the position of each obstacle in the motion space coordinate system, the shortest motion path for the mopping robot to move to the location of the stain while avoiding all obstacles is determined.

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