CN109214305A - Ponding method for cleaning and robot - Google Patents
Ponding method for cleaning and robot Download PDFInfo
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- CN109214305A CN109214305A CN201810927309.3A CN201810927309A CN109214305A CN 109214305 A CN109214305 A CN 109214305A CN 201810927309 A CN201810927309 A CN 201810927309A CN 109214305 A CN109214305 A CN 109214305A
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- forced drainage
- accumulated water
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/46—Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
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- General Physics & Mathematics (AREA)
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Abstract
The present invention provides a kind of ponding method for cleaning and robots, wherein this method comprises: detecting to plant area's depth of accumulated water；It determines the need for carrying out forced drainage based on the depth of accumulated water detected；When needing to carry out forced drainage, forced drainage measure is executed.Using the present invention, the drainage speed of plant area's ponding can be improved.
Description
Technical field
The present invention relates to artificial intelligence, and in particular to a kind of ponding method for cleaning and robot.
Background technique
As the application demand of robot is continuously increased, artificial intelligence the relevant technologies are constantly progressive, the growth of hardware performance,
Service robot starts to move towards factory from laboratory in recent years, and develops from simple function to multifunctional personal robot.It mentions
To robot, a word often referred to recently is artificial intelligence.Artificial intelligence is the intelligence realized with computer similar to people
One subject of energy behavior.Robot itself is one of ultimate application target for artificial intelligence.
Traditional artificial intelligence is as a subject, the Dartmouth meeting originating from the 1950s, passes through later
It rises and fall sharply and quickly several times, achievement abundant is had accumulated in basic theory and method.From the Symbolic Computation System of early stage, it is to expert
System, then to the machine learning that the nineties grows up, big data analysis can be the scope of artificial intelligence.In image, language
The fields such as sound, search, data mining, social computing, and derived some relevant application studies.Wherein contacted with robot
It include closely more computer vision, voice and natural language processing, there are also intelligent bodies (Agent) etc..
It can consider following perception, cognition according to the progress of previous robot field and to the preliminary analysis of application
Technology will realize application.
1, three-dimensional navigation location technology.Regardless of robot, as long as removable, that is, need in family or other environment
Carry out navigator fix.Wherein SLAM (Simultaneous Localization and Ming) technology can carry out simultaneously positioning and
Figure is built, there are many technological accumulation in terms of academic research.But for real system, due to real-time low cost (such as nothing
Method uses more expensive radar equipment) requirement and home environment dynamic change (putting for article), thus it is fixed to navigation
Position technology proposes requirements at the higher level, still needs to further research and develop.
2, visual perception technology.It wherein include recognition of face, gesture identification, object identification skill related to Emotion identification etc.
Art.Visual perception technology is a very important technology of robot and people's interaction.
3, language interaction technique.It wherein include speech recognition, speech production, natural language understanding and Intelligent dialogue system
Deng.
4, character recognition technology.There are many text informations in life, such as the label information of books and newspapers and object, this also requires machine
Device people can carry out Text region by camera.With after traditional scanning identify text compared with, can by camera come
Carry out the identification of text.
5, cognitive techniques.Robot needs to be done step-by-step the cognitive functions such as planning, reasoning, memory, study and prediction, thus
Become more intelligent.
In terms of current present Research, the key technology that service robot faces has rapid progress, but there are also quite
More problems will solve.
Summary of the invention
The embodiment of the invention provides a kind of ponding method for cleaning and robots, and the draining speed of plant area's ponding can be improved
Degree.
The purpose of the embodiment of the present invention is that be achieved through the following technical solutions:
A kind of ponding method for cleaning, comprising:
Plant area's depth of accumulated water is detected；
It determines the need for carrying out forced drainage based on the depth of accumulated water detected；
When needing to carry out forced drainage, forced drainage measure is executed.
Optionally, it is described to plant area's depth of accumulated water carry out detection include:
Image Acquisition is carried out to water detection point, to obtain the ponding image of the water detection point；
The ponding image is identified based on image recognition technology, it is deep with the ponding of the determination water detection point
Degree.
Optionally, the quantity of the water detection point is at least two；It is described to be based on the depth of accumulated water detected determination
It is no to need to carry out forced drainage and include:
Depth of accumulated water based on at least two water detections point, it is determined whether need to carry out forced drainage；
When needing to carry out forced drainage, forced drainage measure is generated.
Optionally, the forced drainage measure includes:
The quantity for needing open Sewage well cover needs the distribution of open Sewage well cover, and needs that opens to be lauched
The opening sequence of well lid.
Optionally, if the depth of accumulated water has exceeded pre-set evacuation water level, the method also includes:
It alarms.
A kind of robot of ponding cleaning, comprising:
Detection unit, for being detected to plant area's depth of accumulated water；
Determination unit, the depth of accumulated water for being detected based on the detection unit determine the need for carrying out pressure row
Water；
Execution unit, for executing forced drainage measure when determination unit determination needs to carry out forced drainage.
Optionally, the detection unit is specifically used for:
Image Acquisition is carried out to water detection point, to obtain the ponding image of the water detection point；
The ponding image is identified based on image recognition technology, it is deep with the ponding of the determination water detection point
Degree.
Optionally, the quantity of the water detection point is at least two；The determination unit is specifically used for:
Depth of accumulated water based on at least two water detections point, it is determined whether need to carry out forced drainage；
When needing to carry out forced drainage, forced drainage measure is generated.
Optionally, the forced drainage measure includes:
The quantity for needing open Sewage well cover needs the distribution of open Sewage well cover, and needs that opens to be lauched
The opening sequence of well lid.
Optionally, the robot further include:
Alarm unit, for detecting that the depth of accumulated water has exceeded pre-set evacuation water level in the detection unit
When, it alarms.
From the above it can be seen that can be examined to plant area's depth of accumulated water using ponding method for cleaning provided in an embodiment of the present invention
It surveys；It determines the need for carrying out forced drainage based on the depth of accumulated water detected；When needing to carry out forced drainage, pressure is executed
Drainage measure improves the property safety of plant area and the personal safety of employee to accelerate the discharge of plant area's ponding.Further,
It when depth of accumulated water is beyond evacuation water level, can alarm, to reduce what the ponding accident that these may occur generated the person
Injury.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of ponding method for cleaning provided by one embodiment of the present invention；
Fig. 2 is the structure chart of the robot of ponding provided by one embodiment of the present invention cleaning.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Ponding method for cleaning provided in an embodiment of the present invention is first introduced, Fig. 1 describes provided by one embodiment of the present invention
The process of ponding method for cleaning.As shown in Figure 1, this method may include:
101, plant area's depth of accumulated water is detected.
Pre-set method can be used in the detection of depth of accumulated water, in one embodiment, can be directly using deep
Degree ruler is detected；
In another embodiment, image recognition technology can be used to determine depth of accumulated water；For example, can draw in advance
Fixed some depth of accumulated water test points, finish deep identification in these depth detection points in advance, under this embodiment, described right
Plant area's depth of accumulated water carries out detection
Image Acquisition is carried out to water detection point, to obtain the ponding image of the water detection point；
The ponding image is identified based on image recognition technology, it is deep with the ponding of the determination water detection point
Degree.
In one embodiment, the deep identification can be specific depth value, then, can when carrying out image recognition
It is the depth of accumulated water for how much being assured that corresponding water detection point with the corresponding depth value in Direct Recognition water outlet face.
In another embodiment, the deep identification can be different color, such as green represents 0~30 li
Rice, yellow represent 30~50 centimetres, and orange to represent 50~70 centimetres, red represents 70~100 centimetres, and black represents 100 centimetres
More than, then when carrying out image recognition, it is what is assured that corresponding ponding that the corresponding color in face can be discharged with Direct Recognition
The depth of accumulated water of test point.
It is understood that the setting of water detection point can be set in the place for being easy ponding, or it is arranged than heavier
The position wanted, such as crew quarter, workshop locating for expensive equipment, warehouse etc..Therefore the quantity of water detection point may be
One, it is also possible to two and its more than.
102, it determines the need for carrying out forced drainage based on the depth of accumulated water detected.
In one embodiment, the depth of accumulated water for whether needing to carry out forced drainage can directly be set, such as can be with
It is provided directly as 50 centimetres, 70 centimetres or 100 centimetres etc..
In another embodiment, due to the influence of the landform of plant area, in the quantity at least two of the water detection point
When a, it is described based on the depth of accumulated water detected determine the need for carry out forced drainage may include:
Depth of accumulated water based on at least two water detections point, it is determined whether need to carry out forced drainage；
When needing to carry out forced drainage, forced drainage measure is generated.
The forced drainage measure may include following measure: need the quantity of open Sewage well cover, need it is open under
The distribution of well cover, and the opening sequence of Sewage well cover for needing to open.
In general, the quantity of the deeper Sewage well cover for needing to open of depth of accumulated water is also more, and due to plant area
The influence of shape can be selectively opened the part Sewage well cover of on-site, that is, it needs to be determined that the lower well for needing to open
The distribution of lid takes into account draining safety and draining effect at the same time it can also determine the opening sequence for needing the Sewage well cover opened
Rate.
In one embodiment, the determination and generation can be generated by pre-set algorithm, described to set in advance
The algorithm set can be generated by the way of artificial intelligence, which can be by neural fusion, such as can be convolution
Neural network (CNN:Convolutional Neural Network) model or Recognition with Recurrent Neural Network (RNN:Recurrent
Neural Networks) model, or it is also possible to deep neural network (DNN:Deep Neural Networks) model.
At this point, robot can directly input the depth of accumulated water of the 1 water detection points detected, can also wrap
Include mark/position of water detection point, the pre-set algorithm can directly export drainage measure, output be 0 or
When preset value, expression does not need to carry out forced drainage, if desired carries out forced drainage, then directly exports forced drainage measure.Example
Such as, in one embodiment, the Sewage well cover of on-site has unique mark, then the forced drainage measure can be straight
Connecing is the sequence of Sewage well cover for needing to open, such as a kind of output of forced drainage measure is: 0,4,13,14,18,30, then
Indicate that needs sequence opens the Sewage well cover that number is 0,4,13,14,18 and 30.
In another embodiment, when determining that depth of accumulated water has exceeded pre-set evacuation water level, the machine
People needs directly to alarm, so that the worker of on-site be reminded to evacuate, ensures the personal safety of worker.The alarm can
It is carried out in such a way that use is pre-set, such as calls pre-set alarm number, alarm bell etc. can also be activated.
103, when needing to carry out forced drainage, forced drainage measure is executed.
It should be noted that in one embodiment, it, can also be to described if the robot opens Sewage well cover
The Sewage well cover of opening is identified, such as arrangement Warning Sign, or be isolated etc..Worker is enabled to avoid having beaten
The Sewage well cover opened, to ensure the personal safety of worker.
From the above it can be seen that can be examined to plant area's depth of accumulated water using ponding method for cleaning provided in an embodiment of the present invention
It surveys；It determines the need for carrying out forced drainage based on the depth of accumulated water detected；When needing to carry out forced drainage, pressure is executed
Drainage measure improves the property safety of plant area and the personal safety of employee to accelerate the discharge of plant area's ponding.Further,
It when depth of accumulated water is beyond evacuation water level, can alarm, to reduce what the ponding accident that these may occur generated the person
Injury.
In one embodiment of the invention, the pre-set algorithm is deployed in neural network, neural network
It can be made of multiple neurons.In the neural network, the algorithm can be expressed as the calculating formula:
M=f (pi+ λ)=f (Api+ λ), i=0 ..., n-1
Wherein, m indicates determining forced drainage measure, piIndicate the depth of accumulated water of the water detection point of acquisition, ponding inspection
The quantity of measuring point is n, and λ indicates that Dynamic gene, the Dynamic gene have difference according to different plant area's landform, what f () was indicated
It is the corresponding activation primitive of neuron, A is the corresponding module parameter of activation primitive.In one embodiment, activation primitive f
() specifically can be sigmoid function, i.e. the form that f () can be expressed as:
Wherein, the module parameter of activation primitive f () is trained in advance, and module parameter A has in one embodiment
Body can be by training function training to obtain as follows:
Wherein, M is the parameter of trained function, and N is the quantity of training pair in training set, and a training is to strong including one
Drainage measure processed, the depth of accumulated water and a Dynamic gene of one group of water detection point；pnIt is water detection point in training set
Depth, λnIt is the Dynamic gene in training set.
Fig. 2 describes a kind of structure of the robot of ponding cleaning provided by one embodiment of the present invention, wherein the machine
People can be used to implement the ponding method for cleaning of previous embodiment offer.As shown in Fig. 2, the robot may include:
Detection unit 201, for being detected to plant area's depth of accumulated water.
Pre-set method can be used in the detection of depth of accumulated water, in one embodiment, can be directly using deep
Degree ruler is detected；
In another embodiment, image recognition technology can be used to determine depth of accumulated water；For example, can draw in advance
Fixed some depth of accumulated water test points, finish deep identification in these depth detection points in advance, under this embodiment, described right
Plant area's depth of accumulated water carries out detection
Image Acquisition is carried out to water detection point, to obtain the ponding image of the water detection point；
The ponding image is identified based on image recognition technology, it is deep with the ponding of the determination water detection point
Degree.
In one embodiment, the deep identification can be specific depth value, then, can when carrying out image recognition
It is the depth of accumulated water for how much being assured that corresponding water detection point with the corresponding depth value in Direct Recognition water outlet face.
In another embodiment, the deep identification can be different color, such as green represents 0~30 li
Rice, yellow represent 30~50 centimetres, and orange to represent 50~70 centimetres, red represents 70~100 centimetres, and black represents 100 centimetres
More than, then when carrying out image recognition, it is what is assured that corresponding ponding that the corresponding color in face can be discharged with Direct Recognition
The depth of accumulated water of test point.
It is understood that the setting of water detection point can be set in the place for being easy ponding, or it is arranged than heavier
The position wanted, such as crew quarter, workshop locating for expensive equipment, warehouse etc..Therefore the quantity of water detection point may be
One, it is also possible to two and its more than.
Determination unit 202, the depth of accumulated water for being detected based on the detection unit 201 determine the need for carrying out strong
System draining.
In one embodiment, the depth of accumulated water for whether needing to carry out forced drainage can directly be set, such as can be with
It is provided directly as 50 centimetres, 70 centimetres or 100 centimetres etc..
In another embodiment, due to the influence of the landform of plant area, in the quantity at least two of the water detection point
When a, it is described based on the depth of accumulated water detected determine the need for carry out forced drainage may include:
Depth of accumulated water based on at least two water detections point, it is determined whether need to carry out forced drainage；
When needing to carry out forced drainage, forced drainage measure is generated.
The forced drainage measure may include following measure: need the quantity of open Sewage well cover, need it is open under
The distribution of well cover, and the opening sequence of Sewage well cover for needing to open.
In general, the quantity of the deeper Sewage well cover for needing to open of depth of accumulated water is also more, and due to plant area
The influence of shape can be selectively opened the part Sewage well cover of on-site, that is, it needs to be determined that the lower well for needing to open
The distribution of lid takes into account draining safety and draining effect at the same time it can also determine the opening sequence for needing the Sewage well cover opened
Rate.
In one embodiment, the determination and generation can be generated by pre-set algorithm, described to set in advance
The algorithm set can be generated by the way of artificial intelligence, which can be by neural fusion, such as can be convolution
Neural network (CNN:Convolutional Neural Network) model or Recognition with Recurrent Neural Network (RNN:Recurrent
Neural Networks) model, or it is also possible to deep neural network (DNN:Deep Neural Networks) model.
At this point, robot can directly input the depth of accumulated water of the 1 water detection points detected, can also wrap
Include mark/position of water detection point, the pre-set algorithm can directly export drainage measure, output be 0 or
When preset value, expression does not need to carry out forced drainage, if desired carries out forced drainage, then directly exports forced drainage measure.Example
Such as, in one embodiment, the Sewage well cover of on-site has unique mark, then the forced drainage measure can be straight
Connecing is the sequence of Sewage well cover for needing to open, such as a kind of output of forced drainage measure is: 0,4,13,14,18,30, then
Indicate that needs sequence opens the Sewage well cover that number is 0,4,13,14,18 and 30.
Execution unit 203, for executing forced drainage when the determination unit 202 determination needs to carry out forced drainage
Measure.
It should be noted that in one embodiment, it, can also be to described if the robot opens Sewage well cover
The Sewage well cover of opening is identified, such as arrangement Warning Sign, or be isolated etc..Worker is enabled to avoid having beaten
The Sewage well cover opened, to ensure the personal safety of worker.
Optionally, in one embodiment, the detection unit 201 can be specifically used for:
Image Acquisition is carried out to water detection point, to obtain the ponding image of the water detection point；
The ponding image is identified based on image recognition technology, it is deep with the ponding of the determination water detection point
Degree.
Optionally, in one embodiment, the quantity of the water detection point is at least two；The determination unit
202 can be specifically used for:
Depth of accumulated water based on at least two water detections point, it is determined whether need to carry out forced drainage；
When needing to carry out forced drainage, forced drainage measure is generated.
Optionally, in one embodiment, the forced drainage measure includes:
The quantity for needing open Sewage well cover needs the distribution of open Sewage well cover, and needs that opens to be lauched
The opening sequence of well lid.
Optionally, in one embodiment, the robot further include:
Alarm unit, for detecting that the depth of accumulated water has exceeded pre-set evacuation in the detection unit 201
When water level, alarm.
In another embodiment, when determining that depth of accumulated water has exceeded pre-set evacuation water level, the machine
People needs directly to alarm, so that the worker of on-site be reminded to evacuate, ensures the personal safety of worker.The alarm can
It is carried out in such a way that use is pre-set, such as calls pre-set alarm number, alarm bell etc. can also be activated.
From the above it can be seen that the robot cleared up using ponding provided in an embodiment of the present invention, can to plant area's depth of accumulated water into
Row detection；It determines the need for carrying out forced drainage based on the depth of accumulated water detected；When needing to carry out forced drainage, execute
Forced drainage measure improves the property safety of plant area and the personal safety of employee to accelerate the discharge of plant area's ponding.Further
Ground can alarm when depth of accumulated water is beyond evacuation water level, generate to reduce the ponding accident that these may occur to the person
Injury.
The contents such as the information exchange between each unit module, implementation procedure that above-mentioned robot includes, due to the present invention
Embodiment of the method is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, and details are not described herein again.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, above-mentioned program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, above-mentioned storage medium can be magnetic
Dish, CD, read-only memory (ROM:Read-Only Memory) or random access memory (RAM:Random
Access Memory) etc..
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its thought of the invention；At the same time, for those skilled in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
Claims (10)
1. a kind of ponding method for cleaning characterized by comprising
Plant area's depth of accumulated water is detected；
It determines the need for carrying out forced drainage based on the depth of accumulated water detected；
When needing to carry out forced drainage, forced drainage measure is executed.
2. method as claimed in claim 1, which is characterized in that it is described to plant area's depth of accumulated water carry out detection include:
Image Acquisition is carried out to water detection point, to obtain the ponding image of the water detection point；
The ponding image is identified based on image recognition technology, with the depth of accumulated water of the determination water detection point.
3. method according to claim 2, which is characterized in that the quantity of the water detection point is at least two；The base
Determining the need for progress forced drainage in the depth of accumulated water detected includes:
Depth of accumulated water based on at least two water detections point, it is determined whether need to carry out forced drainage；
When needing to carry out forced drainage, forced drainage measure is generated.
4. method as claimed in claim 3, which is characterized in that the forced drainage measure includes:
The quantity for needing open Sewage well cover needs the distribution of open Sewage well cover, and the Sewage well cover for needing to open
Opening sequence.
5. the method as described in claim 1-4 is any, which is characterized in that if the depth of accumulated water has exceeded pre-set dredge
Aproll position, the method also includes:
It alarms.
6. a kind of robot of ponding cleaning characterized by comprising
Detection unit, for being detected to plant area's depth of accumulated water；
Determination unit, the depth of accumulated water for being detected based on the detection unit determine the need for carrying out forced drainage；
Execution unit, for executing forced drainage measure when determination unit determination needs to carry out forced drainage.
7. robot as claimed in claim 6, which is characterized in that the detection unit is specifically used for:
Image Acquisition is carried out to water detection point, to obtain the ponding image of the water detection point；
The ponding image is identified based on image recognition technology, with the depth of accumulated water of the determination water detection point.
8. robot as claimed in claim 7, which is characterized in that the quantity of the water detection point is at least two；It is described
Determination unit is specifically used for:
Depth of accumulated water based on at least two water detections point, it is determined whether need to carry out forced drainage；
When needing to carry out forced drainage, forced drainage measure is generated.
9. robot as claimed in claim 8, which is characterized in that the forced drainage measure includes:
The quantity for needing open Sewage well cover needs the distribution of open Sewage well cover, and the Sewage well cover for needing to open
Opening sequence.
10. the robot as described in claim 6 to 9 is any, which is characterized in that the robot further include:
Alarm unit, for when the detection unit detects that the depth of accumulated water has exceeded pre-set evacuation water level,
It alarms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927309.3A CN109214305A (en) | 2018-08-15 | 2018-08-15 | Ponding method for cleaning and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927309.3A CN109214305A (en) | 2018-08-15 | 2018-08-15 | Ponding method for cleaning and robot |
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| CN109214305A true CN109214305A (en) | 2019-01-15 |
Family
ID=64988800
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| CN201810927309.3A Pending CN109214305A (en) | 2018-08-15 | 2018-08-15 | Ponding method for cleaning and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113057535A (en) * | 2021-03-16 | 2021-07-02 | 北京石头世纪科技股份有限公司 | Cleaning robot, control method thereof, electronic device, and storage medium |
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Application publication date: 20190115 |