Floor stain recognition method and apparatus, and automatic cleaning device
AssigneeBeijing Roborock Innovation Technology Co., Ltd.
InventorsWenxiu SUN, Weiyan CAI, Rui WANG, Yuan GAO, Mingli GUO
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Abstract
A floor stain recognition method and apparatus and an automatic cleaning device are disclosed. The method includes: acquiring an RGB image of a field of view; acquiring a depth image of the field of view; acquiring an image common area of view based on the RGB image and the depth image; and acquiring spatial coordinates of a stain area based on the image common area of view. The method can detect the type and position of a stain accurately.
Claims20
A floor stain recognition method, comprising:
- acquiring an RGB image of a field of view;
- acquiring a depth image of the field of view;
- acquiring an image common area of view based on the RGB image and the depth image;
- and
- acquiring spatial coordinates of a stain area based on the image common area of view.
A floor stain recognition apparatus, comprising:
- a first recognition module, configured to acquire an RGB image of a field of view;
- a second recognition module, configured to acquire a depth image of the field of view;
- an image alignment module, configured to acquire an image common area of view based on the RGB image and the depth image;
- and
- a coordinate calculation module, configured to acquire spatial coordinates of the stain area based on the image common area of view.
An automatic cleaning device, comprising an automatic cleaning device body and a controller for controlling the automatic cleaning device body, the controller adopting a floor stain recognition method, comprising:
- acquiring an RGB image of a field of view;
- acquiring a depth image of the field of view;
- acquiring an image common area of view based on the RGB image and the depth image;
- and
- acquiring spatial coordinates of a stain area based on the image common area of view.
Dependencies are inferred from the claim text.