| 摘要 |
A method for optically determining whether a region of a surface is clean or contaminated. The method finds applicability in connection with cleaning robots, for example in pig house cleaning. It comprises the steps of selecting a first and a second, different narrow band of wavelengths for illuminating the region, selecting a first class with two-dimensional values (X1, Y1) which corresponds to a clean region and a second class with two-dimensional values (X2, Y2) which corresponds to a contaminated region, where X1 and X2 are values for the reflectance from the region at the first band, and Y1 and Y2 are values for the reflectance from the region at the second band, illuminating the region with light having the first narrow band of wavelengths and illuminating the region with light having the second narrow band of wavelengths, measuring the reflected light from the region at the first and the second band to determine the respective reflectance values R1 and R2, assigning the two-dimensional value (R1, R2) to the first class, if there exist a value (X1, Y1)=(R1, R2) and assign the two-dimensional value (R1, R2) to the second class, if there exist a value (X2, Y2)=(R1, R2). |
