Boundary Detection Method, Chip and Robot of a Mobile Printing Robot

Abstract

The present invention discloses a boundary detection method, a chip and a robot for a mobile printing robot, including: during the working process of the mobile printing robot, an image of the current walking surface is obtained through a camera, then line segments in the image of the current walking surface are determined, and reference line segments are screened from the line segments in the image of the current walking surface; the mobile printing robot respectively detects the reflection intensities of the areas on both sides of the reference line segment through an infrared light emission and reception device, obtains the intensity difference of the reflection intensities of the areas on both sides of the reference line segment, and then determines the paper boundary according to the intensity difference of the reflection intensities of the areas on both sides of the reference line segment. When the mobile printing robot identifies the boundary of the paper, the influence of the line segments printed by the mobile printing robot on the identification result is excluded.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and particularly relates to a method, a chip and a robot for boundary detection of a mobile printing robot. Background Art

[0002] Existing printers can only be fixedly placed in offices and homes due to their large volume and the need for an AC power supply to provide electrical energy. When users go out for work, they cannot carry it with them. Existing printers is fixed, and the paper moves inside the printer body to achieve printing, so the width of the printer body must be greater than the width of the paper to achieve printing, which is one of the reasons for the large volume of the printer. Due to the above reasons, there appears a mobile printing robot with portability and autonomous movement, and the mobile printing robot needs to identify the boundary of the paper during the working process to prevent going out of bounds. The existing method is to determine the paper boundary through the line segments in the image of the walking surface. However, when the mobile printing robot prints a line segment on the paper, the printed line segment will affect the mobile printing robot's recognition of the paper boundary, causing the mobile printing robot to make an incorrect recognition. Summary of the Invention

[0003] To solve the above problems, the present invention provides a method, a chip and a robot for boundary detection of a mobile printing robot. The specific technical solutions of the present invention are as follows:

[0004] A method for boundary detection of a mobile printing robot, the method comprising the following steps: during the working process of the mobile printing robot, obtaining an image of the current walking surface through a camera, then determining the line segments in the image of the current walking surface, and screening reference line segments from the line segments in the image of the current walking surface; the mobile printing robot respectively detecting the reflection intensities of the regions on both sides of the reference line segment through an infrared light emission and reception device, and obtaining the intensity difference of the reflection intensities of the regions on both sides of the reference line segment; if the intensity difference of the reflection intensities of the regions on both sides of the reference line segment is less than a set difference value, then the mobile printing robot determines whether the reflection intensity of any one of the regions on both sides of the reference line segment is greater than or equal to a first set intensity; if the reflection intensity of any one of the regions on both sides of the reference line segment is greater than or equal to the first set intensity, then the mobile printing robot determines that the reference line segment is not the boundary of the paper; if the reflection intensity of any one of the regions on both sides of the reference line segment is less than the first set intensity, then the mobile printing robot determines that itself is not in the paper; if the intensity difference of the reflection intensities of the regions on both sides of the reference line segment is greater than or equal to the set difference value, then the mobile printing robot determines that the reference line segment is the boundary of the paper.

[0005] Further, during the working process of the mobile printing robot, images of the current walking surface are obtained through a camera, including the following steps: The camera is arranged on the left side of the mobile printing robot, and the mobile printing robot vertically downward obtains images of the current walking surface through the camera. The mobile printing robot obtains images of the current walking surface every set time.

[0006] Further, the mobile printing robot determines line segments in the image of the current walking surface and filters reference line segments from the line segments in the image of the current walking surface, including the following steps: The mobile printing robot filters the obtained image of the current walking surface through an edge filter to obtain the gradient and direction of the pixel points at the edge of the image of the current walking surface; The mobile printing robot extracts the pixel points whose gradient and direction meet the set conditions to obtain pixel line segments; The mobile printing robot filters out the pixel line segments whose length is greater than or equal to the first set distance and configures them as edge line segments; The mobile printing robot configures the edge line segment closest to itself as the reference line segment.

[0007] Further, the mobile printing robot filters the obtained image of the current walking surface through an edge filter to obtain the gradient and direction of the pixel points at the edge of the image of the current walking surface, including the following steps: The mobile printing robot performs planar acquisition of the obtained image of the current walking surface through a horizontal Sobel convolution factor to obtain the horizontal Sobel operator Gx of the image of the current walking surface; The mobile printing robot performs planar acquisition of the obtained image of the current walking surface through a vertical Sobel convolution factor to obtain the vertical Sobel operator Gy of the image of the current walking surface; The mobile printing robot obtains the sum value of the square of the horizontal Sobel operator Gx and the square of the horizontal Sobel operator Gy, and then takes the square root of the sum value of the square of the horizontal Sobel operator Gx and the square of the horizontal Sobel operator Gy to obtain the gradient of the pixel points at the edge of the image of the current walking surface; The mobile printing robot performs an arctangent function operation on the quotient of the horizontal Sobel operator Gx and the vertical Sobel operator Gy to obtain the direction of the pixel points at the edge of the image of the current walking surface.

[0008] Further, the mobile printing robot respectively detects the reflection intensities of the areas on both sides of the reference line segment through an infrared light emission and reception device, including the following steps: After the mobile printing robot obtains the reference line segment, the mobile printing robot first randomly selects any area in the areas on both sides of the reference line segment as the first area and the other area as the second area, and then obtains the reflection intensity of the first area; Then, while the mobile printing robot detects the reflection intensity of the first area through the infrared light emission and reception device, it moves, so that the detection target of the infrared light emission and reception device transfers from the first area to the second area, and the reflection intensity of the second area is obtained.

[0009] Further, if the mobile printing robot determines that the reference line segment is not the boundary of the paper, the mobile printing robot moves in the original direction and detects the paper boundary during the movement until the paper boundary is found.

[0010] Further, if the mobile printing robot determines that it is not within the paper, the mobile printing robot moves in the opposite direction of the current moving direction, detects the paper boundary during the movement, and then moves to the area with the highest reflection intensity on both sides of the paper boundary.

[0011] A chip is used to store a program configured to execute the boundary detection method of the above-mentioned mobile printing robot.

[0012] A mobile printing robot includes a main control chip, a driving module, and a printing module. The main control chip is the above-mentioned chip. The driving module is used to move the mobile printing robot on the paper, and the printing module is used to print a printing file on the paper when the mobile printing robot walks on the paper.

[0013] Compared with the existing technology, the beneficial effect of the present invention is that the mobile printing robot described in this application obtains the line segment of the walking surface through a camera, and then determines whether the line segment is the boundary of the paper according to the reflection intensity on both sides of the line segment of the walking surface. It has high practicability. When identifying the boundary of the paper, the influence of the line segment printed by the mobile printing robot on the identification result is excluded. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic flow chart of the boundary detection method of the mobile printing robot in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] The embodiments of the present invention will be described in detail below. The illustrated embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0016] In the description of the present invention, it should be noted that for orientation terms, such as the terms "center", "horizontal", "vertical", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the orientation and position relationships indicated are based on the orientation or position relationships shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present invention.

[0017] In addition, terms such as "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more such features. In the description of the present invention, the meaning of "at least" is one or more, unless otherwise specifically defined.

[0018] In the present invention, unless otherwise clearly specified and defined, terms such as "assembled", "connected", and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may also be a mechanical connection; it can be directly connected, or connected through an intermediate medium, and can be internally connected between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] In the invention, unless otherwise specified and defined, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "below", and "on top of" the second feature includes the first feature being directly above and diagonally above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "above", "below", and "beneath" the second feature includes the first feature being directly below or diagonally below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0020] The following further describes the specific embodiments of the present invention in conjunction with the accompanying drawings of the specification, making the technical solutions and their beneficial effects of the present invention clearer and more explicit. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0021] Such as Figure 1As shown in the figure, a boundary detection method for a mobile printing robot, the method comprising the following steps: During the operation of the mobile printing robot, an image of the current walking surface is obtained through a camera, then line segments in the image of the current walking surface are determined, and reference line segments are screened from the line segments in the image of the current walking surface; The mobile printing robot respectively detects the reflection intensities of the areas on both sides of the reference line segment through an infrared light emission and reception device, and obtains the intensity difference of the reflection intensities of the areas on both sides of the reference line segment; If the intensity difference of the reflection intensities of the areas on both sides of the reference line segment is less than a set difference, the mobile printing robot determines whether the reflection intensity of any one of the areas on both sides of the reference line segment is greater than or equal to a first set intensity; If the reflection intensity of any one of the areas on both sides of the reference line segment is greater than or equal to the first set intensity, the mobile printing robot determines that the reference line segment is not the boundary of the paper; If the reflection intensity of any one of the areas on both sides of the reference line segment is less than the first set intensity, the mobile printing robot determines that it is not within the paper; If the intensity difference of the reflection intensities of the areas on both sides of the reference line segment is greater than or equal to the set difference, the mobile printing robot determines that the reference line segment is the boundary of the paper.

[0022] As one of the embodiments, during the operation of the mobile printing robot, obtaining an image of the current walking surface through a camera comprises the following steps: The camera is arranged on the left side of the mobile printing robot, and the mobile printing robot vertically downward obtains an image of the current walking surface through the camera, and the mobile printing robot obtains an image of the current walking surface every set time.

[0023] As one of the embodiments, the mobile printing robot determines line segments in the image of the current walking surface and screens reference line segments from the line segments in the image of the current walking surface, comprising the following steps: The mobile printing robot filters the obtained image of the current walking surface through an edge filter to obtain the gradient and direction of the pixel points at the edge of the image of the current walking surface; The mobile printing robot extracts the pixel points whose gradient and direction meet the set conditions to obtain pixel line segments; The mobile printing robot screens out the pixel line segments whose length is greater than or equal to a first set distance and configures them as edge line segments; The mobile printing robot configures the edge line segment closest to itself as the reference line segment.

[0024] As one of the embodiments, the mobile printing robot filters the image of the current walking surface obtained by an edge filter to obtain the gradient and direction of the pixel points on the edge of the image of the current walking surface, including the following steps: The mobile printing robot performs a plane operation on the obtained image of the current walking surface with a horizontal Sobel convolution factor to obtain a horizontal Sobel operator Gx of the image of the current walking surface; The mobile printing robot performs a plane operation on the obtained image of the current walking surface with a vertical Sobel convolution factor to obtain a vertical Sobel operator Gy of the image of the current walking surface; The mobile printing robot obtains the sum of the square of the horizontal Sobel operator Gx and the square of the horizontal Sobel operator Gy, and then takes the square root of the sum of the square of the horizontal Sobel operator Gx and the square of the horizontal Sobel operator Gy to obtain the gradient of the pixel points on the edge of the image of the current walking surface; The mobile printing robot performs an arctangent function operation on the quotient of the horizontal Sobel operator Gx and the vertical Sobel operator Gy to obtain the direction of the pixel points on the edge of the image of the current walking surface.

[0025] As one of the embodiments, the mobile printing robot respectively detects the reflection intensities of the areas on both sides of the reference line segment through an infrared light emitting and receiving device, including the following steps: After the mobile printing robot obtains the reference line segment, the mobile printing robot first randomly selects any area on one side of the reference line segment as the first area and the other area as the second area, and then obtains the reflection intensity of the first area; Then, while the mobile printing robot detects the reflection intensity of the first area through the infrared light emitting and receiving device, it moves, so that the detection target of the infrared light emitting and receiving device changes from the first area to the second area, and the reflection intensity of the second area is obtained.

[0026] As one of the embodiments, if the mobile printing robot determines that the reference line segment is not the boundary of the paper, the mobile printing robot moves in the original direction and detects the paper boundary during the movement until the boundary of the paper is found.

[0027] As one of the embodiments, if the mobile printing robot determines that it is not inside the paper, the mobile printing robot moves in the opposite direction of the current moving direction, detects the paper boundary during the movement, and then moves to the area on the side with the highest reflection intensity among the areas on both sides of the paper boundary.

[0028] A chip is used to store a program, and the program is configured to execute the above-mentioned boundary detection method of the mobile printing robot.

[0029] A mobile printing robot, the mobile printing robot includes a main control chip, a driving module and a printing module. The main control chip is the above-mentioned chip. The driving module is used to make the mobile printing robot move on paper. The printing module is used to print a printing file onto the paper when the mobile printing robot walks on the paper.

[0030] Compared with the existing technology, the beneficial effects of the present invention are as follows: The mobile printing robot described in this application obtains the line segments of the walking surface through a camera, and then determines whether the line segment is the boundary of the paper according to the reflection intensity on both sides of the line segment of the walking surface. It has high practicability. When identifying the boundary of the paper, the influence of the line segments printed by the mobile printing robot on the recognition result is excluded.

[0031] In the description of the specification, the description referring to terms such as "a single embodiment", "preferably", "example", "specific example" or "some examples", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. The schematic expressions of the above terms in this specification do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. The connection methods described in the description of the specification have obvious effects and practical effectiveness.

[0032] Through the description of the above structure and principle, those skilled in the art should understand that the present invention is not limited to the above specific implementation manners. Improvements and substitutions using well-known technologies in the art based on the present invention fall within the protection scope of the present invention, which should be defined by each claim.

Claims

1. A boundary detection method for a mobile printing robot, characterized in that: The method includes the following steps: During the working process of the mobile printing robot, an image of the current walking surface is obtained through a camera, then line segments in the image of the current walking surface are determined, and reference line segments are screened from the line segments in the image of the current walking surface; The mobile printing robot respectively detects the reflection intensities of the areas on both sides of the reference line segment through an infrared light emitting and receiving device, and obtains the intensity difference of the reflection intensities of the areas on both sides of the reference line segment; If the intensity difference of the reflection intensities of the areas on both sides of the reference line segment is less than the set difference, the mobile printing robot determines whether the reflection intensity of any one of the areas on both sides of the reference line segment is greater than or equal to the first set intensity; If the reflection intensity of any one of the areas on both sides of the reference line segment is greater than or equal to the first set intensity, the mobile printing robot determines that the reference line segment is not the boundary of the paper, then the mobile printing robot moves in the original direction and detects the paper boundary during the movement until the paper boundary is found; if the reflection intensity of any one of the areas on both sides of the reference line segment is less than the first set intensity, the mobile printing robot determines that it is not in the paper, then the mobile printing robot moves in the opposite direction of the current moving direction and detects the paper boundary during the movement, and then moves to the area with the highest reflection intensity on both sides of the paper boundary; If the intensity difference of the reflection intensities of the areas on both sides of the reference line segment is greater than or equal to the set difference, the mobile printing robot determines that the reference line segment is the boundary of the paper; The mobile printing robot determines the line segments in the image of the current walking surface and screens the reference line segments from the line segments in the image of the current walking surface, including the following steps: The mobile printing robot filters the obtained image of the current walking surface through an edge filter to obtain the gradient and direction of the pixel points at the edge of the image of the current walking surface; The mobile printing robot extracts the pixel points whose gradient and direction meet the set conditions to obtain pixel line segments; The mobile printing robot screens out the pixel line segments with a length greater than or equal to the first set distance and configures them as edge line segments; The mobile printing robot configures the edge line segment closest to itself as the reference line segment.

2. The boundary detection method of the mobile printing robot according to claim 1, characterized in that During the working process of the mobile printing robot, obtaining an image of the current walking surface through a camera includes the following steps: The camera is arranged on the left side of the mobile printing robot, and the mobile printing robot vertically downward obtains an image of the current walking surface through the camera, and the mobile printing robot obtains an image of the current walking surface every set time.

3. The boundary detection method of the mobile printing robot according to claim 2, characterized in that: The mobile printing robot filters the obtained image of the current walking surface through an edge filter to obtain the gradient and direction of the pixel points at the edge of the image of the current walking surface, including the following steps: The mobile printing robot performs planar acquisition of the obtained image of the current walking surface through a horizontal Sobel convolution factor to obtain the horizontal Sobel operator Gx of the image of the current walking surface; The mobile printing robot performs planar acquisition of the obtained image of the current walking surface through a vertical Sobel convolution factor to obtain the vertical Sobel operator Gy of the image of the current walking surface; The mobile printing robot obtains the sum of the square of the horizontal Sobel operator Gx and the square of the horizontal Sobel operator Gy, and then takes the square root of the sum of the square of the horizontal Sobel operator Gx and the square of the horizontal Sobel operator Gy to obtain the gradient of the pixel point at the edge of the image of the current walking surface; The mobile printing robot performs an inverse tangent function operation on the quotient of the Sobel operator Gx in the horizontal direction and the Sobel operator Gy in the vertical direction to obtain the direction of the pixel point of the edge of the image of the current walking surface.

4. The boundary detection method of the mobile printing robot according to claim 1, characterized in that, The mobile printing robot detects the reflection intensity of the areas on both sides of the reference line segment through an infrared light transmitting and receiving device, including the following steps: After the mobile printing robot obtains the reference line segment, it first randomly selects any area on both sides of the reference line segment as the first area and the other area as the second area, and then obtains the reflection intensity of the first area; Then, the mobile printing robot moves while detecting the reflection intensity of the first area through the infrared light emitting and receiving device, so that the detection target of the infrared light emitting and receiving device is transferred from the first area to the second area, and the reflection intensity of the second area is obtained.

5. A chip for storing programs, characterized in that, The program is configured to execute the boundary detection method for a mobile printing robot according to any one of claims 1 to 4.

6. A mobile printing robot, characterized in that: The mobile printing robot includes a main control chip, a driving module and a printing module. The main control chip is the chip described in claim 5. The driving module is used to make the mobile printing robot move on paper. The printing module is used to print the print file on paper when the mobile printing robot moves on the paper.

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