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Control method and device of underwater cleaning robot and underwater cleaning robot
The invention discloses a control method and device of an underwater cleaning robot and the underwater cleaning robot, and belongs to the technical field of robots. By adopting the technical scheme provided by the embodiment of the invention, the image of the environment around the underwater cleaning robot is acquired under the condition that the underwater cleaning robot executes the cleaning task in the water pool. And inputting the environment image into an image recognition model, and performing target detection and semantic segmentation on the environment image through the image recognition model to obtain a first recognition frame and a second recognition frame on the environment image and the position type of the position where the underwater cleaning robot is located. The to-be-cleaned target, the obstacle and the position type recognized by the image recognition model are utilized for overall planning, intelligent cleaning of the to-be-cleaned target by the underwater cleaning robot in combination with the environment where the underwater cleaning robot is located is achieved, and the cleaning effect of the underwater cleaning robot on the water pool is improved.
本申请公开了一种水下清洁机器人的控制方法、装置以及水下清洁机器人，属于机器人技术领域。采用本申请实施例提供的技术方案，在水下清洁机器人在水池中执行清洁任务的情况下，获取该水下清洁机器人周围的环境图像。将该环境图像输入图像识别模型，通过该图像识别模型对该环境图像进行目标检测和语义分割，得到该环境图像上的第一识别框、第二识别框以及该水下清洁机器人所处位置的位置类型。利用图像识别模型识别出的待清理目标、障碍物以及位置类型来进行总体规划，实现水下清洁机器人结合所处环境对待清理目标的智能化清理，提高使用水下清洁机器人对水池的清洁效果。
Control method and device of underwater cleaning robot and underwater cleaning robot
The invention discloses a control method and device of an underwater cleaning robot and the underwater cleaning robot, and belongs to the technical field of robots. By adopting the technical scheme provided by the embodiment of the invention, the image of the environment around the underwater cleaning robot is acquired under the condition that the underwater cleaning robot executes the cleaning task in the water pool. And inputting the environment image into an image recognition model, and performing target detection and semantic segmentation on the environment image through the image recognition model to obtain a first recognition frame and a second recognition frame on the environment image and the position type of the position where the underwater cleaning robot is located. The to-be-cleaned target, the obstacle and the position type recognized by the image recognition model are utilized for overall planning, intelligent cleaning of the to-be-cleaned target by the underwater cleaning robot in combination with the environment where the underwater cleaning robot is located is achieved, and the cleaning effect of the underwater cleaning robot on the water pool is improved.
本申请公开了一种水下清洁机器人的控制方法、装置以及水下清洁机器人，属于机器人技术领域。采用本申请实施例提供的技术方案，在水下清洁机器人在水池中执行清洁任务的情况下，获取该水下清洁机器人周围的环境图像。将该环境图像输入图像识别模型，通过该图像识别模型对该环境图像进行目标检测和语义分割，得到该环境图像上的第一识别框、第二识别框以及该水下清洁机器人所处位置的位置类型。利用图像识别模型识别出的待清理目标、障碍物以及位置类型来进行总体规划，实现水下清洁机器人结合所处环境对待清理目标的智能化清理，提高使用水下清洁机器人对水池的清洁效果。
Control method and device of underwater cleaning robot and underwater cleaning robot
水下清洁机器人的控制方法、装置以及水下清洁机器人
CHE LIXUAN (author) / HUO FENG (author)
2024-04-26
Patent
Electronic Resource
Chinese
IPC:
G05D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
,
Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen
/
B25J
Manipulatoren
,
MANIPULATORS
/
B63C
LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS
,
Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen
/
E04H
Gebäude oder ähnliche Bauwerke für besondere Zwecke
,
BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES
/
G06V
Underwater cleaning robot cleaning method and underwater cleaning robot
| European Patent Office | 2024