CN109159137A - The floor-cleaning machine device people of ground effect is washed in a kind of video assessment - Google Patents
The floor-cleaning machine device people of ground effect is washed in a kind of video assessment Download PDFInfo
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- CN109159137A CN109159137A CN201811306816.1A CN201811306816A CN109159137A CN 109159137 A CN109159137 A CN 109159137A CN 201811306816 A CN201811306816 A CN 201811306816A CN 109159137 A CN109159137 A CN 109159137A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 83
- 230000000694 effects Effects 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000005406 washing Methods 0.000 claims abstract description 13
- 239000003550 marker Substances 0.000 claims abstract description 4
- 230000004927 fusion Effects 0.000 claims description 23
- 239000013618 particulate matter Substances 0.000 claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 238000012360 testing method Methods 0.000 claims description 9
- 238000000605 extraction Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000052 comparative effect Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention relates to the floor-cleaning machine device people that ground effect is washed in a kind of assessment of video, solution is to wash ground effect to be not easy the technical issues of assessing, and the tail portion of floor-cleaning machine device people is provided with camera, camera is connected with processor and memory；Camera is for acquiring the post-job ground image of floor-cleaning machine device people；The memory is used to store the ground image of camera acquisition, and processor, which is stored with, washes ground effect decision procedure, includes the following steps: step 1, and setting cleaning standard picture presets cleaning path；The ground image of acquisition is marked on path in the process of cleaning according to preset cleaning path for step 2；The ground image of acquisition is compared, by wash result marker for determination on cleaning path profile by step 3 with cleaning standard picture；Step 4 counts all ground effects of washing and determines that result is the corresponding path point of underproof ground image, and carries out the technical solution of subsequent cleaning, preferably resolve the problem, applies with can be used for washing.
Description
Technical field
The present invention relates to floor-cleaning machine device people fields, and in particular to the floor-cleaning machine device people of ground effect is washed in a kind of video assessment.
Background technique
The country is existing to be fulfiled assignment by manual drive with washing mostly, is be easy to cause during washing ground to cleaning
The omission in region, working efficiency is lower, and maintenance cost is higher；It is washed in addition, there is automatic intelligent in the market while also
Floor-washing robot is improved work efficiency with replacing manually completing the automatic cleaning operation to purging zone.
Existing floor-cleaning machine device people cannot effectively determine for washing the effect on ground, therefore, can be with the present invention provides one kind
Video evaluations wash the floor-cleaning machine device people of ground effect.
Summary of the invention
The technical problem to be solved by the present invention is to ground effects existing in the prior art of washing to be not easy the technical issues of assessing.
The floor-cleaning machine device people that ground effect is washed in the new video assessment of one kind is provided, the floor-cleaning machine device people that ground effect is washed in video assessment has
There is automatic assessment to wash ground effect and carry out supplement wash until the characteristics of reaching effect with washing.
In order to solve the above technical problems, the technical solution adopted is as follows:
The floor-cleaning machine device people of ground effect is washed in a kind of video assessment, and the tail portion of the floor-cleaning machine device people is provided with camera, images
Head is connected with processor and memory；
The camera is for acquiring the post-job ground image of floor-cleaning machine device people；
The memory is used to store the ground image of camera acquisition, and the processor, which is stored with, washes ground effect decision procedure,
Include the following steps:
Step 1, setting cleaning standard picture, presets cleaning path；
The ground image of acquisition is marked on path in the process of cleaning according to preset cleaning path for step 2；
The ground image of acquisition is compared, by wash result marker for determination on cleaning road by step 3 with cleaning standard picture
On diameter figure；
Step 4, the ground effect of washing for counting all determine that result is the corresponding path point of underproof ground image, and quantity is 0
Step 6 is executed, quantity is greater than 0 and thens follow the steps 5；
Step 5 carries out path planning according to the path point of step 5, is washed ground again according to the path of planning, repeat step
Two to step 4；
Step 6, cleaning finish.
The working principle of the invention: the present invention obtains washing ground effect by carrying out identification comparison for washing the image behind ground,
And according to ground effect is washed, determine whether to carry out secondary cleaning, while the place of secondary cleaning will be needed to carry out path planning, path
Planning is the path planning carried out in the existing route planing method used.
In above scheme, further the ground image of acquisition and cleaning standard picture are carried out in step 3 for optimization
Compare and includes:
Step 1, color parameter, brightness parameter, obvious bulk stain and the particulate matter size of image recognition cleaning standard picture
Information；
Step 2, the color parameter of the ground image after Collecting operation, brightness parameter, obvious bulk stain and particulate matter size
Information；
Step 3, color parameter, brightness parameter, obvious bulk stain and the particulate matter size information of comparison step 1 and step 2:
The color parameter value of the color parameter value excess step 1 of step 2, the brightness that the brightness parameter of step 2 is less than step 1 are joined
Numerical value, the obvious bulk stain quantity of step 2 are greater than 0, and the particulate matter size of step 2 is greater than the particulate matter size of step 1, determines
It is unqualified to wash ground effect.
Further, hence it is evident that the identification of blocky stain includes:
(1) ground image after cleaning standard picture or Collecting operation is pre-processed, obtains pretreatment image, pretreatment packet
Image distortion correction and dodging are included, dodging uses the even smooth method of Mask difference；
(2) it to pretreatment image preextraction obvious bulk stain pixel, is marked according to the obvious bulk stain pixel of extraction
Seepage flow seed point coordinate generates seepage flow seed point map；
(3) it according to seepage flow seed point map, extracts seepage flow seed point map and corresponds to image coordinate location pixel conduct to be processed
Seepage flow seed point carries out seepage flow, takes the secondary seepage flow under acceleration environment to handle, detects blocky spot similar purpose, obtain
To testing result at the beginning of blocky spot；
(4) interference source area-limit is defined, details refinement is carried out to testing result at the beginning of blocky spot, removal area is less than interference source
The testing result of area-limit removes ambient noise, exports final detection result figure.
Further, the floor-cleaning machine device people is additionally provided with adjustable outlet valve, and the memory further includes water tune
Program is saved, processor is for executing the runoff investigation program, execution following steps:
The ground image of acquisition is carried out brightness identification by step A1, and recognition result characterizes water；
Step A2 controls the outlet valve of floor-cleaning machine device people according to the recognition result of step A1, controls outlet valve water yield.
Further, the floor-cleaning machine device head part is provided with laser radar, and side is provided with ultrasonic sensor, laser
Radar is used for probing head front obstacle, and ultrasonic laser sensor is for detecting laterally at a distance from barrier.
Further, the camera is high-resolution lossless full HD video camera, handles CPU, 3 figures by 1 ARM
As processing SOC chip and 4 cmos image sensor compositions；
First cmos image sensor and the second cmos image sensor export TTL digital signal to the first image procossing SOC core
Piece, third cmos image sensor and the 4th cmos image sensor export TTL digital signal to the second image procossing SOC core
Piece；
The first image processing SOC chip and the second image procossing SOC chip are all connected to third image procossing SOC chip,
Third image procossing SOC chip is for completing image mosaic；
The arm processor CPU is for controlling 3 image procossing SOC chips and 4 cmos image sensors, for executing
High-resolution splice program completes image mosaic.
Further, the high-resolution splice program, includes the following steps:
Step B1 defines high-resolution rectangular-shaped frame；
Step B2 compares high-resolution rectangular-shaped frame and the output image of 4 cmos image sensors, if high-resolution
Rectangular-shaped frame is identical as the image of any one cmos image sensor, then directly executes step B6, no to then follow the steps 3；
First cmos image sensor is exported image and the second cmos image sensor output image and high-resolution by step B3
Rectangular-shaped frame intersection carries out similar portion fusion using Fusion Edges algorithm, obtains the first part of high-definition picture；
Third cmos image sensor is exported image and the 4th cmos image sensor output image and high-resolution by step B4
Rectangular-shaped frame intersection carries out similar portion fusion using Fusion Edges algorithm, obtains the second part of high-definition picture；
Step B5 carries out high-resolution first part with high-resolution second part to carry out phase using Fusion Edges algorithm
Like partial fusion；
Step B6 exports high-definition picture.
Further, the Fusion Edges algorithm is novel circular extraction algorithm, comprising:
Step C1 defines point on the basis of the marginal point of segmentation, and is defined as the center of circle, does circle with radius R, in the upper every 60 ° of definition of circle
For a section, a pixel is chosen in section；
Step C2, the mean pixel for calculating 6 pixels obtain the confidence point of pixel near circle；
Pixel is compared by step C3 with confidence point, and the definition that pixel is greater than confidence point is 1, and pixel is less than confidence
The definition of point is 0；
Step C4 counts the pixel number in the border circular areas for 1, using the corresponding current mean value of confidence point as fusion picture
Element value.
Beneficial effects of the present invention: the present invention carries out the picture on the clean ground of ground picture and standard after cleaning pair
Than comparative run can be color, brightness, hence it is evident that blocky stain, one of particulate matter size or a variety of carry out assessment and wash ground
Effect, comparative run is more, and assessment result is more accurate.Such as it is determined as unqualified, by automatic path planning, does not have the ground of wash clean will
It carries out secondary or is cleaned multiple times, until wash clean, while the assessment system may determine that on ground how much is water, to adjust machine
The water yield of device.The present invention also realizes the lossless acquisition of image high-resolution by high-resolution camera, realizes high true
The detection source of degree acquires, and improves check and evaluation precision.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Floor-cleaning machine device people's schematic diagram of ground effect is washed in Fig. 1, the video assessment in embodiment 1.
Fig. 2 washes ground effect decision procedure flow chart.
Fig. 3, the ground image and cleaning standard picture comparison procedure schematic diagram of acquisition.
Fig. 4, hence it is evident that the identification process schematic diagram of blocky stain.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to limit
The fixed present invention.
Embodiment 1
The present embodiment provides the floor-cleaning machine device people that ground effect is washed in a kind of assessment of video, such as Fig. 1, the tail portions of the floor-cleaning machine device people
It is provided with camera, camera is connected with processor and memory；The camera is post-job for acquiring floor-cleaning machine device people
Ground image；The memory is used to store the ground image of camera acquisition, and the processor, which is stored with, washes ground effect judgement
Program, such as Fig. 2, include the following steps:
Step 1, setting cleaning standard picture, presets cleaning path；
The ground image of acquisition is marked on path in the process of cleaning according to preset cleaning path for step 2；
The ground image of acquisition is compared, by wash result marker for determination on cleaning road by step 3 with cleaning standard picture
On diameter figure；
Step 4, the ground effect of washing for counting all determine that result is the corresponding path point of underproof ground image, and quantity is 0
Step 6 is executed, quantity is greater than 0 and thens follow the steps 5；
Step 5 carries out path planning according to the path point of step 5, is washed ground again according to the path of planning, repeat step
Two to step 4；
Step 6, cleaning finish.
Floor-cleaning machine device people detailed construction such as Fig. 1 in the present embodiment, out outside particular point above-mentioned, remaining is with existing one
As floor-cleaning machine robot it is similar.
Specifically, such as Fig. 3, the ground image of acquisition is compared with cleaning standard picture in step 3 includes:
Step 1, color parameter, brightness parameter, obvious bulk stain and the particulate matter size of image recognition cleaning standard picture
Information；
Step 2, the color parameter of the ground image after Collecting operation, brightness parameter, obvious bulk stain and particulate matter size
Information；
Step 3, color parameter, brightness parameter, obvious bulk stain and the particulate matter size information of comparison step 1 and step 2:
The color parameter value of the color parameter value excess step 1 of step 2, the brightness that the brightness parameter of step 2 is less than step 1 are joined
Numerical value, the obvious bulk stain quantity of step 2 are greater than 0, and the particulate matter size of step 2 is greater than the particulate matter size of step 1, determines
It is unqualified to wash ground effect.
Wherein the comparison of color, the comparison of brightness can be used color contrast scheme in conventional images parameter comparison and
Double of scheme of brightness.
In detail, such as Fig. 4, hence it is evident that the identification of blocky stain includes:
(1) ground image after cleaning standard picture or Collecting operation is pre-processed, obtains pretreatment image, pretreatment packet
Image distortion correction and dodging are included, dodging uses the even smooth method of Mask difference；
(2) it to pretreatment image preextraction obvious bulk stain pixel, is marked according to the obvious bulk stain pixel of extraction
Seepage flow seed point coordinate generates seepage flow seed point map；
(3) it according to seepage flow seed point map, extracts seepage flow seed point map and corresponds to image coordinate location pixel conduct to be processed
Seepage flow seed point carries out seepage flow, takes the secondary seepage flow under acceleration environment to handle, detects blocky spot similar purpose, obtain
To testing result at the beginning of blocky spot；
(4) interference source area-limit is defined, details refinement is carried out to testing result at the beginning of blocky spot, removal area is less than interference source
The testing result of area-limit removes ambient noise, exports final detection result figure.
Preferably, the floor-cleaning machine device people is additionally provided with adjustable outlet valve, and the memory further includes runoff investigation
Program, processor is for executing the runoff investigation program, execution following steps:
The ground image of acquisition is carried out brightness identification by step A1, and recognition result characterizes water；
Step A2 controls the outlet valve of floor-cleaning machine device people according to the recognition result of step A1, controls outlet valve water yield.
The characteristics of image of water can make brightness, be also possible to water feature, and the present embodiment can also be by for water on ground
Feature extract, store water characteristic value, by for cleaning after bottom surface image lift image feature value, with water characteristic value
Be compared, thus at identification water how much, feedback control outlet valve.Controller control outlet valve be using the prior art.
Specifically, the floor-cleaning machine device head part is provided with laser radar, and side is provided with ultrasonic sensor, laser thunder
Up to probing head front obstacle is used for, ultrasonic laser sensor is for detecting laterally at a distance from barrier.
Preferably, in order to improve acquisition image authenticity and clarity, the camera be it is high-resolution lossless
Full HD video camera handles CPU, 3 image procossing SOC chips and 4 cmos image sensor compositions by 1 ARM；
First cmos image sensor and the second cmos image sensor export TTL digital signal to the first image procossing SOC core
Piece, third cmos image sensor and the 4th cmos image sensor export TTL digital signal to the second image procossing SOC core
Piece；
The first image processing SOC chip and the second image procossing SOC chip are all connected to third image procossing SOC chip,
Third image procossing SOC chip is for completing image mosaic；
The arm processor CPU is for controlling 3 image procossing SOC chips and 4 cmos image sensors, for executing
High-resolution splice program completes image mosaic.
In detail, the high-resolution splice program, includes the following steps:
Step B1 defines high-resolution rectangular-shaped frame；
Step B2 compares high-resolution rectangular-shaped frame and the output image of 4 cmos image sensors, if high-resolution
Rectangular-shaped frame is identical as the image of any one cmos image sensor, then directly executes step B6, no to then follow the steps 3；
First cmos image sensor is exported image and the second cmos image sensor output image and high-resolution by step B3
Rectangular-shaped frame intersection carries out similar portion fusion using Fusion Edges algorithm, obtains the first part of high-definition picture；
Third cmos image sensor is exported image and the 4th cmos image sensor output image and high-resolution by step B4
Rectangular-shaped frame intersection carries out similar portion fusion using Fusion Edges algorithm, obtains the second part of high-definition picture；
Step B5 carries out high-resolution first part with high-resolution second part to carry out phase using Fusion Edges algorithm
Like partial fusion；
Step B6 exports high-definition picture.
In detail, the Fusion Edges algorithm is novel circular extraction algorithm, comprising:
Step C1 defines point on the basis of the marginal point of segmentation, and is defined as the center of circle, does circle with radius R, in the upper every 60 ° of definition of circle
For a section, a pixel is chosen in section；
Step C2, the mean pixel for calculating 6 pixels obtain the confidence point of pixel near circle；
Pixel is compared by step C3 with confidence point, and the definition that pixel is greater than confidence point is 1, and pixel is less than confidence
The definition of point is 0；
Step C4 counts the pixel number in the border circular areas for 1, using the corresponding current mean value of confidence point as fusion picture
Element value.
What the undisclosed part of the present embodiment was all made of is the prior art, and this embodiment is not repeated.
Although the illustrative specific embodiment of the present invention is described above, in order to the technology of the art
Personnel are it will be appreciated that the present invention, but the present invention is not limited only to the range of specific embodiment, to the common skill of the art
For art personnel, as long as long as various change the attached claims limit and determine spirit and scope of the invention in, one
The innovation and creation using present inventive concept are cut in the column of protection.
Claims (8)
1. the floor-cleaning machine device people that ground effect is washed in a kind of video assessment, it is characterised in that: the tail portion of the floor-cleaning machine device people is arranged
There is camera, camera is connected with processor and memory；
The camera is for acquiring the post-job ground image of floor-cleaning machine device people；
The memory is used to store the ground image of camera acquisition, and the processor, which is stored with, washes ground effect decision procedure,
Include the following steps:
Step 1, setting cleaning standard picture, presets cleaning path；
The ground image of acquisition is marked on path in the process of cleaning according to preset cleaning path for step 2；
The ground image of acquisition is compared, by wash result marker for determination on cleaning road by step 3 with cleaning standard picture
On diameter figure；
Step 4, the ground effect of washing for counting all determine that result is the corresponding path point of underproof ground image, and quantity is 0
Step 6 is executed, quantity is greater than 0 and thens follow the steps 5；
Step 5 carries out path planning according to the path point of step 5, is washed ground again according to the path of planning, repeat step
Two to step 4；
Step 6, cleaning finish.
2. the floor-cleaning machine device people that ground effect is washed in video assessment according to claim 1, it is characterised in that: in step 3
The ground image of acquisition is compared with cleaning standard picture and includes:
Step 1, color parameter, brightness parameter, obvious bulk stain and the particulate matter size of image recognition cleaning standard picture
Information；
Step 2, the color parameter of the ground image after Collecting operation, brightness parameter, obvious bulk stain and particulate matter size
Information；
Step 3, color parameter, brightness parameter, obvious bulk stain and the particulate matter size information of comparison step 1 and step 2:
The color parameter value of the color parameter value excess step 1 of step 2, the brightness that the brightness parameter of step 2 is less than step 1 are joined
Numerical value, the obvious bulk stain quantity of step 2 are greater than 0, and the particulate matter size of step 2 is greater than the particulate matter size of step 1, determines
It is unqualified to wash ground effect.
3. the floor-cleaning machine device people that ground effect is washed in video assessment according to claim 2, it is characterised in that: obvious bulk is dirty
The identification of mark includes:
(1) ground image after cleaning standard picture or Collecting operation is pre-processed, obtains pretreatment image, pretreatment packet
Image distortion correction and dodging are included, dodging uses the even smooth method of Mask difference；
(2) it to pretreatment image preextraction obvious bulk stain pixel, is marked according to the obvious bulk stain pixel of extraction
Seepage flow seed point coordinate generates seepage flow seed point map；
(3) it according to seepage flow seed point map, extracts seepage flow seed point map and corresponds to image coordinate location pixel conduct to be processed
Seepage flow seed point carries out seepage flow, takes the secondary seepage flow under acceleration environment to handle, detects blocky spot similar purpose, obtain
To testing result at the beginning of blocky spot；
(4) interference source area-limit is defined, details refinement is carried out to testing result at the beginning of blocky spot, removal area is less than interference source
The testing result of area-limit removes ambient noise, exports final detection result figure.
4. the floor-cleaning machine device people that ground effect is washed in video assessment according to claim 3, it is characterised in that: the floor-cleaning machine
Device people is additionally provided with adjustable outlet valve, and the memory further includes runoff investigation program, and processor is for executing the water
Amount adjusts program, executes following steps:
The ground image of acquisition is carried out brightness identification by step A1, and recognition result characterizes water；
Step A2 controls the outlet valve of floor-cleaning machine device people according to the recognition result of step A1, controls outlet valve water yield.
5. the floor-cleaning machine device people that ground effect is washed in video assessment according to claim 1, it is characterised in that: the floor-cleaning machine
Device head part is provided with laser radar, and side is provided with ultrasonic sensor, and laser radar is used for probing head front obstacle,
Ultrasonic laser sensor is for detecting laterally at a distance from barrier.
6. the floor-cleaning machine device people that ground effect is washed in video assessment according to claim 1, it is characterised in that: the camera
For high-resolution lossless full HD video camera, CPU, 3 image procossing SOC chips and 4 CMOS figures are handled by 1 ARM
As sensor forms；
First cmos image sensor and the second cmos image sensor export TTL digital signal to the first image procossing SOC core
Piece, third cmos image sensor and the 4th cmos image sensor export TTL digital signal to the second image procossing SOC core
Piece；
The first image processing SOC chip and the second image procossing SOC chip are all connected to third image procossing SOC chip,
Third image procossing SOC chip is for completing image mosaic；
The arm processor CPU is for controlling 3 image procossing SOC chips and 4 cmos image sensors, for executing
High-resolution splice program completes image mosaic.
7. the floor-cleaning machine device people that ground effect is washed in video assessment according to claim 6, it is characterised in that: the high-resolution
Rate splice program, includes the following steps:
Step B1 defines high-resolution rectangular-shaped frame；
Step B2 compares high-resolution rectangular-shaped frame and the output image of 4 cmos image sensors, if high-resolution
Rectangular-shaped frame is identical as the image of any one cmos image sensor, then directly executes step B6, no to then follow the steps 3；
First cmos image sensor is exported image and the second cmos image sensor output image and high-resolution by step B3
Rectangular-shaped frame intersection carries out similar portion fusion using Fusion Edges algorithm, obtains the first part of high-definition picture；
Third cmos image sensor is exported image and the 4th cmos image sensor output image and high-resolution by step B4
Rectangular-shaped frame intersection carries out similar portion fusion using Fusion Edges algorithm, obtains the second part of high-definition picture；
Step B5 carries out high-resolution first part with high-resolution second part to carry out phase using Fusion Edges algorithm
Like partial fusion；
Step B6 exports high-definition picture.
8. the floor-cleaning machine device people that ground effect is washed in video assessment according to claim 7, it is characterised in that: melt at the edge
Hop algorithm is novel circular extraction algorithm, comprising:
Step C1 defines point on the basis of the marginal point of segmentation, and is defined as the center of circle, does circle with radius R, in the upper every 60 ° of definition of circle
For a section, a pixel is chosen in section；
Step C2, the mean pixel for calculating 6 pixels obtain the confidence point of pixel near circle；
Pixel is compared by step C3 with confidence point, and the definition that pixel is greater than confidence point is 1, and pixel is less than confidence
The definition of point is 0；
Step C4 counts the pixel number in the border circular areas for 1, using the corresponding current mean value of confidence point as fusion picture
Element value.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811306816.1A CN109159137B (en) | 2018-11-05 | 2018-11-05 | Floor washing robot capable of evaluating floor washing effect through video |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811306816.1A CN109159137B (en) | 2018-11-05 | 2018-11-05 | Floor washing robot capable of evaluating floor washing effect through video |
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| CN109159137A true CN109159137A (en) | 2019-01-08 |
| CN109159137B CN109159137B (en) | 2024-02-27 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112718764A (en) * | 2020-12-25 | 2021-04-30 | 深圳市亿联智能有限公司 | Glass cleaning machine with video acquisition function |
| WO2021208380A1 (en) * | 2020-04-15 | 2021-10-21 | 长沙中联重科环境产业有限公司 | Disinfection and cleaning operation effect testing method and device for epidemic prevention disinfection and cleaning robot |
| CN117173415A (en) * | 2023-11-03 | 2023-12-05 | 南京特沃斯清洁设备有限公司 | Visual analysis method and system for large-scale floor washing machine |
| CN117193333A (en) * | 2023-10-27 | 2023-12-08 | 高捷体育股份有限公司 | Floor dust removal robot path planning method, cleaning system and processor |
| CN117252558A (en) * | 2023-11-17 | 2023-12-19 | 南京特沃斯清洁设备有限公司 | Cleaning equipment management method and system based on face recognition |
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