阅读说明：本技术 基于机器视觉的鞋内紫外定向杀菌的方法和装置 (Method and device for directional ultraviolet sterilization in shoes based on machine vision ) 是由 陈�全 李德骏 王闵 冯浩文 汪天歌 于 2019-11-19 设计创作，主要内容包括：本发明提供了一种基于机器视觉的鞋内紫外定向杀菌的方法和装置,应用于鞋柜,包括：摄像头,上位机控制器,紫外杀菌模块,下位机控制器和机械臂,其中,装置设置于鞋柜内部,紫外杀菌模块设置于机械臂的末端；摄像头,用于采集鞋柜内的目标鞋子的图像；上位机控制器,用于对图像进行识别分析,得到目标鞋子的鞋口位置坐标；下位机控制器,用于基于鞋口位置坐标控制机械臂的运动姿态,使得紫外杀菌模块深入目标鞋子的内部；紫外杀菌模块,用于对目标鞋子的内部进行杀菌操作。本发明缓解了现有技术中鞋子杀菌设备存在的体积大,无法深入鞋内,限制了其使用范围及环境的技术问题。(The invention provides a machine vision-based in-shoe ultraviolet directional sterilization method and device, which are applied to a shoe cabinet and comprise the following steps: the shoe cabinet comprises a camera, an upper computer controller, an ultraviolet sterilization module, a lower computer controller and a mechanical arm, wherein the device is arranged inside the shoe cabinet, and the ultraviolet sterilization module is arranged at the tail end of the mechanical arm; the camera is used for acquiring images of target shoes in the shoe cabinet; the upper computer controller is used for identifying and analyzing the image to obtain the position coordinates of the welt of the target shoe; the lower computer controller is used for controlling the motion posture of the mechanical arm based on the position coordinates of the shoe opening, so that the ultraviolet sterilization module is deep into the target shoe; and the ultraviolet sterilization module is used for performing sterilization operation on the inside of the target shoe. The invention solves the technical problems that the shoe sterilization equipment in the prior art has large volume, cannot go deep into the shoe and limits the application range and environment.)

1. The device for directionally sterilizing the ultraviolet inside shoes based on machine vision is characterized by being applied to a shoe cabinet and comprising: the shoe cabinet comprises a camera, an upper computer controller, an ultraviolet sterilization module, a lower computer controller and a mechanical arm, wherein the device is arranged in the shoe cabinet, and the ultraviolet sterilization module is arranged at the tail end of the mechanical arm;

the camera is used for acquiring images of target shoes in the shoe cabinet;

the upper computer controller is used for identifying and analyzing the image to obtain the position coordinates of the shoe opening of the target shoe;

the lower computer controller is used for controlling the motion posture of the mechanical arm based on the position coordinates of the shoe opening, so that the ultraviolet sterilization module goes deep into the target shoe;

the ultraviolet sterilization module is used for performing sterilization operation on the interior of the target shoe.

2. The device of claim 1, wherein the robotic arm comprises a plurality of rotational joints, the rotational joints comprised of steering engines.

3. The apparatus of claim 1, further comprising: the tail end of the mechanical arm is connected with the ultraviolet sterilization module through the clamp.

4. The apparatus of claim 3, wherein the ultraviolet sterilization module comprises: the device comprises a light source driver and an ultraviolet LED light source module, wherein the light source driver is connected with the ultraviolet LED light source module, and the ultraviolet LED light source module is fixed on the clamper;

the light source driver is used for providing electric drive for the LED light source module;

and the LED light source module is used for sterilizing the inside of the target shoe.

5. The apparatus of claim 4, wherein the lower computer controller is further configured to: and the holder is controlled to enable the LED light source module to do surrounding motion in the target shoe along the horizontal plane and the vertical plane of the shelf of the target shoe respectively, so that the sterilization operation is performed.

6. The apparatus of claim 1, wherein the host computer controller is further configured to:

converting the image into an HSV color space to perform color segmentation operation, strengthening interested colors, and weakening irrelevant colors to obtain interested areas;

carrying out Canny edge detection on the region of interest to obtain a target contour; the target contour is a welt contour of the target shoe;

and calculating the center coordinate of the target contour, and taking the center coordinate as the position coordinate of the shoe opening.

7. The apparatus of claim 1, wherein the lower computer controller is further configured to:

determining initial position coordinates of the mechanical arm;

calculating the rotation angle and the extension length of the mechanical arm based on the position coordinate of the welt and the initial position coordinate;

controlling the motion posture of the mechanical arm based on the rotation angle and the extension length, so that the ultraviolet sterilization module goes deep into the target shoe.

8. A method of machine vision based uv directed sterilization in shoes, applied to the apparatus of claim 1, comprising:

acquiring images of target shoes in the shoe cabinet through the camera;

identifying and analyzing the image through the upper computer controller to obtain the position coordinates of the shoe opening of the target shoe;

controlling the motion posture of the mechanical arm through the lower computer controller based on the position coordinates of the shoe opening, so that the ultraviolet sterilization module goes deep into the target shoe;

and sterilizing the inside of the target shoe through the ultraviolet sterilization module.

9. The method according to claim 8, wherein the identifying and analyzing the image by the upper computer controller to obtain the position coordinates of the welt of the target shoe comprises:

converting the image into an HSV color space to perform color segmentation operation, strengthening interested colors, and weakening irrelevant colors to obtain interested areas;

carrying out Canny edge detection on the region of interest to obtain a target contour; the target contour is a welt contour of the target shoe;

and calculating the center coordinate of the target contour, and taking the center coordinate as the position coordinate of the shoe opening.

10. The method of claim 8, wherein controlling, by the lower computer controller, a motion pose of the robotic arm based on the welt position coordinates such that the uv sterilization module penetrates into the interior of the target shoe comprises:

determining initial position coordinates of the mechanical arm;

calculating the rotation angle and the extension length of the mechanical arm based on the position coordinate of the welt and the initial position coordinate;

controlling the motion posture of the mechanical arm through a lower computer controller based on the rotation angle and the extension length, so that the ultraviolet sterilization module goes deep into the target shoe.

Technical Field

The invention relates to the technical field of in-shoe sterilization, in particular to a method and a device for ultraviolet directional sterilization in shoes based on machine vision.

Background

The traditional household shoe cabinet is mainly used as furniture for storing shoes. However, foot diseases are vicious-circulating due to sanitary problems such as foot dampness, foot odor, tinea pedis and the like, and the interior of shoes is required to be purified as a hotbed for breeding and spreading germs.

Electronic shoe cabinets which have recently appeared integrate baking and perfuming and are internally provided with ultraviolet mercury lamps for sterilizing shoes. The method for eliminating bacteria, mold and fungi by using the action of ultraviolet rays is a well-known technical method in the field, but the method for sterilizing by using an ultraviolet pump lamp in the prior art has the defects of large volume, incapability of penetrating into shoes and limitation of the application range and environment of the shoes.

Disclosure of Invention

In view of the above, the present invention aims to provide a method and an apparatus for directional ultraviolet sterilization in shoes based on machine vision, so as to alleviate the technical problems that shoe sterilization equipment in the prior art has a large volume, cannot go deep into shoes, and limits the application range and environment.

In a first aspect, an embodiment of the present invention provides a device for ultraviolet directional sterilization in shoes based on machine vision, applied to a shoe cabinet, including: the shoe cabinet comprises a camera, an upper computer controller, an ultraviolet sterilization module, a lower computer controller and a mechanical arm, wherein the device is arranged in the shoe cabinet, and the ultraviolet sterilization module is arranged at the tail end of the mechanical arm; the camera is used for acquiring images of target shoes in the shoe cabinet; the upper computer controller is used for identifying and analyzing the image to obtain the position coordinates of the shoe opening of the target shoe; the lower computer controller is used for controlling the motion posture of the mechanical arm based on the position coordinates of the shoe opening, so that the ultraviolet sterilization module goes deep into the target shoe; the ultraviolet sterilization module is used for performing sterilization operation on the interior of the target shoe.

Further, the mechanical arm comprises a plurality of rotary joints, and each rotary joint is composed of a steering engine.

Further, the apparatus further comprises: the tail end of the mechanical arm is connected with the ultraviolet sterilization module through the clamp.

Further, the ultraviolet sterilization module includes: the device comprises a light source driver and an ultraviolet LED light source module, wherein the light source driver is connected with the ultraviolet LED light source module, and the ultraviolet LED light source module is fixed on the clamper; the light source driver is used for providing electric drive for the LED light source module; and the LED light source module is used for sterilizing the inside of the target shoe.

Further, the lower computer controller is further configured to: and the holder is controlled to enable the LED light source module to do surrounding motion in the target shoe along the horizontal plane and the vertical plane of the shelf of the target shoe respectively, so that the sterilization operation is performed.

Further, the upper computer controller is further configured to: converting the image into an HSV color space to perform color segmentation operation, strengthening interested colors, and weakening irrelevant colors to obtain interested areas; carrying out Canny edge detection on the region of interest to obtain a target contour; the target contour is a welt contour of the target shoe; and calculating the center coordinate of the target contour, and taking the center coordinate as the position coordinate of the shoe opening.

Further, the lower computer controller is further configured to: determining initial position coordinates of the mechanical arm; calculating the rotation angle and the extension length of the mechanical arm based on the position coordinate of the welt and the initial position coordinate; controlling the motion posture of the mechanical arm based on the rotation angle and the extension length, so that the ultraviolet sterilization module goes deep into the target shoe.

In a second aspect, the embodiment of the present invention also provides a method for ultraviolet directional sterilization in shoes based on machine vision, which is applied to the apparatus in the first aspect, and includes: acquiring images of target shoes in the shoe cabinet through the camera; identifying and analyzing the image through the upper computer controller to obtain the position coordinates of the shoe opening of the target shoe; controlling the motion posture of the mechanical arm through the lower computer controller based on the position coordinates of the shoe opening, so that the ultraviolet sterilization module goes deep into the target shoe; and sterilizing the inside of the target shoe through an ultraviolet sterilization module.

Further, the upper computer controller performs recognition analysis on the image to obtain the position coordinates of the shoe opening of the target shoe, and the method comprises the following steps: converting the image into an HSV color space to perform color segmentation operation, strengthening interested colors, and weakening irrelevant colors to obtain interested areas; carrying out Canny edge detection on the region of interest to obtain a target contour; the target contour is a welt contour of the target shoe; and calculating the center coordinate of the target contour, and taking the center coordinate as the position coordinate of the shoe opening.

Further, controlling, by the lower computer controller, a motion posture of the mechanical arm based on the shoe throat position coordinates, so that the ultraviolet sterilization module goes deep into the target shoe, including: determining initial position coordinates of the mechanical arm; calculating the rotation angle and the extension length of the mechanical arm based on the position coordinate of the welt and the initial position coordinate; controlling the motion posture of the mechanical arm through a lower computer controller based on the rotation angle and the extension length, so that the ultraviolet sterilization module goes deep into the target shoe.

The invention provides a machine vision-based in-shoe ultraviolet directional sterilization method and device, which are applied to a shoe cabinet and comprise the following steps: the shoe cabinet comprises a camera, an upper computer controller, an ultraviolet sterilization module, a lower computer controller and a mechanical arm, wherein the device is arranged inside the shoe cabinet, and the ultraviolet sterilization module is arranged at the tail end of the mechanical arm; the camera is used for acquiring images of target shoes in the shoe cabinet; the upper computer controller is used for identifying and analyzing the image to obtain the position coordinates of the welt of the target shoe; the lower computer controller is used for controlling the motion posture of the mechanical arm based on the position coordinates of the shoe opening, so that the ultraviolet sterilization module is deep into the target shoe; and the ultraviolet sterilization module is used for performing sterilization operation on the inside of the target shoe. According to the shoe cabinet, the intelligent sterilization device is integrated in the shoe cabinet, the machine vision is utilized to intelligently identify the shoe opening, the mechanical arm motion control is utilized to carry out positioning, all-dimensional sterilization of all parts in the shoe is completed, and the technical problems that shoe sterilization equipment in the prior art is large in size, cannot go deep into the shoe and limits the application range and the environment of the shoe sterilization equipment are solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of an apparatus for UV directional sterilization in shoes based on machine vision according to an embodiment of the present invention;

FIG. 2 is a frame diagram of a control system design of a device for ultraviolet qualitative sterilization in shoes based on machine vision according to an embodiment of the present invention;

FIG. 3 is a hardware framework diagram of a device for ultraviolet qualitative sterilization in shoes based on machine vision according to an embodiment of the present invention;

fig. 4 is a software design flowchart of a host computer controller according to an embodiment of the present invention;

fig. 5 is a flowchart illustrating a software design of a lower computer controller according to an embodiment of the present invention;

FIG. 6 is a flow chart of a method for machine vision based UV directed sterilization in shoes according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a D-H parametric model according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating rotational degrees of freedom of a robot according to an embodiment of the present invention;

fig. 9 is a three-dimensional schematic diagram of a robot arm structure according to an embodiment of the present invention;

FIG. 10 is a simplified line segment schematic diagram of a robot provided in an embodiment of the present invention;

fig. 11 is a schematic plan view of a robot provided in an embodiment of the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.