CN107421540A - A kind of Mobile Robotics Navigation method and system of view-based access control model - Google Patents
A kind of Mobile Robotics Navigation method and system of view-based access control model Download PDFInfo
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- CN107421540A CN107421540A CN201710311501.5A CN201710311501A CN107421540A CN 107421540 A CN107421540 A CN 107421540A CN 201710311501 A CN201710311501 A CN 201710311501A CN 107421540 A CN107421540 A CN 107421540A
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Abstract
The invention discloses a kind of Mobile Robotics Navigation method and system of view-based access control model；Including vision sensor, image processor, motion-control module and mobile robot car body.It is responsible for gathering scene image by vision sensor, image processor carries out image Treatment Analysis, then sends the operation of instruction control machine people by motion-control module.Lane line is preset in mobile work robot environment, and identifier is set in ad-hoc location；Mobile robot collection institute scene image at ambient, and the image with ground in orthographic projection is obtained by perspective transform；Gained image is melted into bianry image through gray processing and threshold value, then is split to obtain the image and the only image containing lane line only containing identifier；Approximate track trajectory is only being found out on the image containing lane line and is being tracked, then is identifying identifier, position and acceleration information is being obtained, realizes mobile robot precision navigation.
Description
Technical field
The present invention relates to robot navigation field, more particularly to a kind of Mobile Robotics Navigation method of view-based access control model and it is
System.
Background technology
Mobile robot can effectively improve logistics progress in workshop, reduce enterprise's labour cost and improves production effect
Rate, had a wide range of applications demand in multiple industries such as automobile, food, printing, material transportation.
One key technology of mobile robot is airmanship, and Mobile Robotics Navigation has had various ways, such as used
Property navigation, tape navigation, laser navigation and vision guided navigation etc..The mobile robot of different navigation mode has the characteristics of respective,
And determine the flexible degree and cost of formed logistics system.Inertial navigation utilizes gyroscope and photoelectric encoder, its
Influence easily is disturbed, control performance is relatively poor；Tape navigation need in advance laying tape, safeguard with transformation cost compared with
It is high；Laser navigation needs extra installation reflector, and laser sensor involves great expense, and maintenance cost is higher.So vision guided navigation
Mobile robot has higher practical value and wide application prospect.
Because the environment where mobile robot is usually relatively complex, and because the dynamic characteristic of its own is to need reality
When image caused by motion process is handled, if to establish accurate environmental map, the data volume of processing is huge,
Requirement to hardware is very high, and cost is high, implements difficult.The existing vision navigation method based on Quick Response Code and navigation band
Although simple, quick, due in mobile robot practical application scene Quick Response Code easily by dust or spot influence so as to
Recognition success rate is caused to decline, its validity has much room for improvement.
The content of the invention
The shortcomings that it is an object of the invention to overcome above-mentioned prior art and deficiency, there is provided a kind of simple and reliable, real-time
The Mobile Robotics Navigation method and system of view-based access control model good, controllability is good.
The present invention is achieved through the following technical solutions：
A kind of Navigation System for Mobile Robot of view-based access control model, including such as lower component：
Vision sensor；
Image processor；
Motion-control module；
Mobile robot car body；
The vision sensor, image processor and motion-control module carry by mobile robot car body；By vision
Sensor is responsible for collection scene image in real time, and image processor carries out Treatment Analysis to the image collected, then by motion control
Module sends the operation of instruction control machine people according to analysis result.
The vision sensor uses USB cameras, and is centrally mounted at the front end of mobile robot car body.
The USB cameras are additionally provided with a LED light source supporting with it.
The described image processor selects ARM Cortex-a9.
The air navigation aid of the Navigation System for Mobile Robot of view-based access control model, is comprised the steps of：
Step 1：The ambient image on vision sensor collection ground in front of the mobile robot car body in traveling；
The tape of dark color is preset with the scene of ambient image on light ground as lane line, in the pre-determined bit of tape
Install and be equipped with multiple identifiers；There is a black (or dark) annulus outside identifier；Identifier includes mobile robot
The positional information and velocity variations information of car body；
Step 2：The image obtained in step 1 is subjected to perspective transform by image processor, is changed into image and regards
Feel image of the camera of sensor with ground in orthographic projection；
Step 3：Image obtained in step 2 is subjected to noise reduction process and is converted to gray level image；
Again image progress thresholding is handled to obtain bianry image and carry out image dividing processing, obtain one only comprising mark
Know the ROI image and a ROI image for only including lane line of symbol.
The only ROI image containing lane line that will be obtained again, two discontinuous processing regions, traversal are specified on image
The all pixels of pixel column are set, easily obtain the midpoint of lane line on intended pixel row in two processing regions, 2 points of connection obtains
To with the approximate trajectory of lane line, and trajectory is tracked so as to realize navigation；
The only ROI image containing identifier obtained, by the predefined identifier identified in image obtain positional information with
Acceleration change information.
The step 1 also comprises the following steps：
Step a：The camera putting position and posture of vision sensor are first determined, and camera is adjusted according to actual scene
The brightness of supporting light source；
Step b：According to the light-source brightness currently adjusted, clearly road can be collected by adjusting the parameter of vision sensor
Road image；
Step c：The continuous clearly ambient image, and the image collected is passed into image processor and carried out down of collection in real time
The image procossing of one step.
The present invention is had the following advantages and effect relative to prior art：
The present invention by vision sensor be responsible for gather scene image, image processor to image carry out Treatment Analysis, then by
Motion-control module sends the operation of instruction control machine people.Lane line is preset in mobile work robot environment, and in spy
Positioning installs identifier；Mobile robot collection scene image at ambient, and obtained by perspective transform and ground
In the image of orthographic projection；Gained image is melted into bianry image through gray processing and threshold value, then is split to obtain only containing identifier
Image and the only image containing lane line；Approximate track trajectory is only being found out on the image containing lane line and is being tracked, then is being identified
Go out identifier, obtain position and acceleration information, realize navigation feature.The present invention can be significantly simplified the control of mobile robot
System and tracking process, realize the precision navigation of mobile robot.
Brief description of the drawings
Fig. 1 is the air navigation aid schematic flow sheet of the Navigation System for Mobile Robot of view-based access control model.
Fig. 2 is the demarcation schematic diagram of camera perspective transform.
Fig. 3 is lane line and identifier.
Fig. 4 is the bianry image after thresholding.
Fig. 5 is the lane line ROI image schematic diagram after segmentation.
Fig. 6 is the identifier ROI image schematic diagram after segmentation.
Fig. 7 is the lane line ROI image processing region schematic diagram after segmentation.
Fig. 8 is the track approximate trajectories line obtained after image procossing.
Fig. 9 is the Navigation System for Mobile Robot structural representation of view-based access control model.
Embodiment
The present invention is more specifically described in detail with reference to specific embodiment.
As shown in Figure 1.Step S100：Scene image under default environment where gathering the mobile robot, and will obtain
The image obtained is by perspective transform, as shown in Fig. 2 making image be changed into image of the camera with ground in orthographic projection.It is described pre-
If being covered with lane line in the road under environment in advance, multiple identifiers, the mark are provided with the ad-hoc location of the lane line
Fu Jun has a circular profile higher with identifier background contrasts, as shown in Figure 3.
The track line width being layered in advance in the present embodiment on road is 3cm, and identifier circular profile exradius is 10cm,
Internal diameter is 6cm.
Above-mentioned steps S100, in addition to following sub-step：
Step S101：Camera putting position is determined with posture and the bright of the supporting light source of camera is adjusted according to actual scene
Degree.
Camera uses USB cameras in the present embodiment, and it is 30cm to put height as vertical range from the ground, and shooting angle is phase
Machine axial line and level ground are in 45° angle.
Step S102：Light-source brightness adjustment camera parameter according to currently adjusting can collect clearly mileage chart
Picture.
Step S103：The continuous clearly ambient image of collection in real time, and the image collected is passed into microprocessor and carried out
The image procossing of next step.
Processor model is ARM Cortex-a9 in the present embodiment.
Step S200：Noise reduction process is carried out to the image obtained through step S100 and is converted into gray level image, then is passed through
Thresholding carries out global binary conversion treatment, image is eventually converted into bianry image, as shown in Figure 4.
The obtained images of step S100 are smoothed using mean filter in the present embodiment, average core size is 3*
3。
Step S300：By through binary image segmentation obtained by step S200 obtain one only the ROI image comprising lane line and
One ROI image for only including identifier, as shown in Figures 5 and 6.
On step S300, in addition to following sub-step：
Step S301, to bianry image obtained by step S200, pass through the lane line side in Hough transformation algorithm detection image
Edge, then split to obtain the only ROI image containing lane line.
Step S302, to bianry image obtained by step S200, by the circle in hough-circle transform algorithm detection image, work as inspection
Measure when circle contour is included in bianry image, just divide the image into obtain the only ROI image containing identifier.
Straight-line detection is carried out with accumulated probability Hough transformation in the present embodiment, sets the progress size of its linear search
Unit radius is 1, and most short straight line length is 3cm, to shorten detection time.
The a diameter of 9cm of smallest circle, the greatest circle a diameter of 11cm of hough-circle transform are set in the present embodiment, to shorten detection
Time.
Step S400：The ROI image and the only ROI image containing identifier only containing lane line obtained by identification step S300,
Navigation is tracked to lane line, and obtains the current positional information of mobile robot and acceleration information.
On step S400, also comprising following sub-step：
Step S401, to the only ROI image containing lane line obtained through step S301, specified two do not connect on image
Continuous processing region, as shown in fig. 7, all pixels of traversal particular row.Due to being bianry image, the gray scale on lane line
It is worth for 255, the gray value outside lane line is 0, easily obtains the midpoint on the lane line of particular row in two processing regions,
Connect 2 points obtain with the approximate trajectory of lane line, as shown in figure 8, and trajectory is tracked so as to realize navigation.
Step S402, it is specific in image by identifying to the only ROI image containing identifier obtained through step 302
Identifier obtains positional information and acceleration change information.
Identifier discrimination in the present embodiment is high, and lane line tracking effect is good.
As described above, the present invention can be better realized.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, other any Spirit Essences without departing from the present invention
With made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in the present invention's
Within protection domain.
Claims (6)
1. a kind of Navigation System for Mobile Robot of view-based access control model, it is characterised in that including such as lower component：
Vision sensor；
Image processor；
Motion-control module；
Mobile robot car body；
The vision sensor, image processor and motion-control module carry by mobile robot car body；By visual sensing
Device is responsible for collection scene image in real time, and image processor carries out Treatment Analysis to the image collected, then by motion-control module
The operation of instruction control machine people is sent according to analysis result.
2. the Navigation System for Mobile Robot of view-based access control model according to claim 1, it is characterised in that：The vision sensor
Using USB cameras, and it is centrally mounted at the front end of mobile robot car body.
3. the Navigation System for Mobile Robot of view-based access control model according to claim 2, it is characterised in that：The USB cameras are also
Provided with a LED light source supporting with it.
4. the Navigation System for Mobile Robot of view-based access control model according to claim 3, it is characterised in that：At the described image
Reason device selects ARM Cortex-a9.
5. the air navigation aid of the Navigation System for Mobile Robot of view-based access control model described in claim 4, it is characterised in that comprising following
Step：
Step 1：The ambient image on vision sensor collection ground in front of the mobile robot car body in traveling；
The tape of dark color is preset with the scene of ambient image on light ground as lane line, is installed in the pre-determined bit of tape
It is equipped with multiple identifiers；There is a black annulus outside identifier；Identifier includes the positional information of mobile robot car body
With velocity variations information；
Step 2：The image obtained in step 1 is subjected to perspective transform by image processor, image is changed into vision biography
The camera of sensor and the image that ground is in orthographic projection；
Step 3：Image obtained in step 2 is subjected to noise reduction process and is converted to gray level image；
Again image progress thresholding is handled to obtain bianry image and carry out image dividing processing, obtained one and only include identifier
ROI image and a ROI image for only including lane line.
The only ROI image containing lane line that will be obtained again, two discontinuous processing regions, traversal setting are specified on image
The all pixels of pixel column, easily obtain the midpoint of lane line on intended pixel row in two processing regions, 2 points of connection obtain with
The approximate trajectory of lane line, and trajectory is tracked so as to realize navigation；
The only ROI image containing identifier obtained, positional information is obtained with accelerating by the predefined identifier identified in image
Spend change information.
6. the air navigation aid of the Navigation System for Mobile Robot of view-based access control model described in claim 5, it is characterised in that：The step
One also comprises the following steps：
Step a：The camera putting position and posture of vision sensor are first determined, and it is supporting according to actual scene adjustment camera
The brightness of light source；
Step b：According to the light-source brightness currently adjusted, clearly mileage chart can be collected by adjusting the parameter of vision sensor
Picture；
Step c：The continuous clearly ambient image of collection in real time, and the image collected is passed into image processor and carried out in next step
Image procossing.
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| CN108053447A (en) * | 2017-12-18 | 2018-05-18 | 纳恩博（北京）科技有限公司 | Method for relocating, server and storage medium based on image |
| CN109960145A (en) * | 2017-12-22 | 2019-07-02 | 天津工业大学 | Mobile robot mixes vision track following strategy |
| CN109961454A (en) * | 2017-12-22 | 2019-07-02 | 北京中科华正电气有限公司 | Human-computer interaction device and processing method in a kind of embedded intelligence machine |
| CN110146094A (en) * | 2019-06-27 | 2019-08-20 | 成都圭目机器人有限公司 | Robot localization navigation system and its implementation based on lane line |
| WO2019174213A1 (en) * | 2018-03-14 | 2019-09-19 | Boe Technology Group Co., Ltd. | Positioning method, positioning apparatus, and computer-program product |
| CN110389588A (en) * | 2019-07-17 | 2019-10-29 | 宁波财经学院 | A kind of mobile robot |
| CN111780744A (en) * | 2020-06-24 | 2020-10-16 | 浙江大华技术股份有限公司 | Mobile robot hybrid navigation method, equipment and storage device |
| CN111896012A (en) * | 2020-03-15 | 2020-11-06 | 上海谕培汽车科技有限公司 | Vehicle-mounted navigation method based on machine vision |
| CN112558600A (en) * | 2020-11-09 | 2021-03-26 | 福建汉特云智能科技有限公司 | Robot movement correction method and robot |
| CN116592876A (en) * | 2023-07-17 | 2023-08-15 | 北京元客方舟科技有限公司 | Positioning device and positioning method thereof |
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