Lee Jiseok, Chae Hobyeong, Kim KyungMin, Kim Hwa Soo, Seo TaeWon
School of Mechanical Engineering, Hanyang University, Seoul, 04763, South Korea.
School of Mechanical System Engineering, Kyounggi University, Suwon, 16227, Korea.
Sci Rep. 2022 Feb 25;12(1):3229. doi: 10.1038/s41598-022-07235-y.
Recent years, there has been an increase in the number of high-rise buildings, and subsequently, the interest in external wall cleaning methods has similarly increased. While a number of exterior wall cleaning robots are being developed, a method to detect contaminants on the exterior walls is still required. The exteriors of most high-rise buildings today take the form of a window curtain-wall made of translucent glass. Detecting dust on translucent glass is a significant challenge. Here, we have attempted to overcome this challenge using image processing, inspired by the fact that people typically use just the 'naked eye' to recognize dust on windows. In this paper, we propose a method that detects dust through simple image processing techniques and estimates its density. This method only uses processing techniques that are not significantly restricted by global brightness and background, making it easily applicable in outdoor conditions. Dust separation was performed using a median filter, and dust density was estimated through a mean shift analysis technique. This dust detection method can perform dust separation and density estimation using only an image of the dust on a translucent window with blurry background.
近年来，高层建筑的数量不断增加，随之而来的是，人们对外墙清洁方法的兴趣也同样增加。虽然正在开发多种外墙清洁机器人，但仍需要一种检测外墙污染物的方法。如今，大多数高层建筑的外墙采用由半透明玻璃制成的幕墙形式。检测半透明玻璃上的灰尘是一项重大挑战。在此，受人们通常仅用“肉眼”识别窗户上灰尘这一事实的启发，我们试图通过图像处理来克服这一挑战。在本文中，我们提出了一种通过简单图像处理技术检测灰尘并估计其密度的方法。该方法仅使用不受全局亮度和背景显著限制的处理技术，使其易于在户外条件下应用。使用中值滤波器进行灰尘分离，并通过均值漂移分析技术估计灰尘密度。这种灰尘检测方法仅使用具有模糊背景的半透明窗户上灰尘的图像就能进行灰尘分离和密度估计。
