CN110660097A - Grain leveling robot positioning and action control method - Google Patents
Grain leveling robot positioning and action control method Download PDFInfo
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Abstract
The invention relates to a grain leveling robot positioning and action control method in the technical field of robots. The method comprises the following steps: the method comprises the following steps that 1, pictures in front of a robot are collected in real time, wherein the pictures comprise images of a walkway plate; 2, preprocessing the picture to obtain a preprocessed picture; 3, extracting a line segment of the outline of the walkway plate in the preprocessed picture; 4, judging the position of the robot on the walkway plate according to the line segment of the contour of the walkway plate; and 5, outputting a control command of the robot for straight line walking, rod lifting, turning around and turning 180 degrees for straight walking or turning 90 degrees for straight walking after turning left according to the position of the robot on the walkway plate, the number of walking wheels of the robot, and a mark or grain leveling signal on the walkway plate. By adopting the method, the position of the grain leveling robot on the # -shaped walkway can be obtained in real time, and the control of walking, rod lifting and steering can be completed according to the position.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a grain leveling robot positioning and action control method.
Background
In the grain storage process, the granary needs to be leveled, in the existing method, a manual mode is mostly adopted, time and labor are wasted, in order to overcome the defect, a grain leveling robot is developed, the characteristic that the robot can move horizontally is utilized, and in the grain storage process, the grain storage is leveled in a mode that the paired robots pull the cross rods. The periphery of the granary is provided with a # -shaped walkway which divides the granary into a plurality of grain storage grids, the chassis of the grain leveling robot moves on the # -shaped walkway, the grain leveling robot performs grain leveling operation on each grain storage grid under the operation action of the chassis, and the schematic diagrams of the grain leveling robot and the # -shaped walkway plate are shown in figure 2.
However, how to enable the robot to accurately acquire the accurate position of the robot and finish linear walking, rod lifting and steering according to the position is an urgent problem to be solved, and the problem is directly related to the effect of the grain leveling robot in actual application.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a grain leveling robot positioning and action control method.
In order to achieve the above purpose, the invention provides the following technical scheme:
a grain leveling robot positioning and motion control method comprises the following steps:
s1, acquiring pictures in front of the robot in real time, wherein the pictures comprise images of the walkway plates;
s2, preprocessing the picture to obtain a preprocessed picture;
s3, extracting the line segment of the outline of the walkway plate in the preprocessed picture;
s4, judging the position of the robot on the walkway plate according to the line segment of the contour of the walkway plate in the picture;
and S5, outputting a control command of the robot for straight line walking, rod lifting, turning around and turning 180 degrees or straight walking after turning 90 degrees left according to the position of the robot on the walkway plate, the number of walking wheels of the robot, and a mark or grain leveling signal on the walkway plate.
Further, the specific step of S2 includes:
s201, performing binarization processing on the picture based on an HSV color space;
and S202, carrying out corrosion expansion processing on the picture after the binarization processing.
Further, the specific step of S3 includes:
s301, performing edge detection on the preprocessed picture by adopting a Canny edge detection algorithm;
s302, carrying out Hough line detection on the preprocessed picture subjected to edge detection to obtain a plurality of line segments;
and S303, performing straight line fitting on the plurality of line segments by adopting a least square method to obtain the line segments of the outline of the walkway plate.
Further, the line segment types of the outline of the walkway plate in the picture include: a straight line segment; the left side is provided with a middle passageway; the right side is provided with a middle passageway; the left and the right are provided with middle passageways; a middle top aisle; the top of the left side is provided with a passageway and the top of the right side is provided with a passageway.
Further, the specific step of S4 includes:
s401, judging whether a horizontal line segment exists in the line segments of the outline of the walkway plate, if not, positioning the robot on the straight line segment of the walkway plate, and if so, performing the step S402;
s402, judging whether the horizontal line segment of the outline of the walkway plate is positioned in the middle of the outline of the walkway plate or at the top of the outline of the walkway plate, if the horizontal line segment of the outline of the walkway plate is positioned in the middle of the outline of the walkway plate, the robot is positioned in the middle aisle of the walkway plate, and if the horizontal line segment of the outline of the walkway plate is positioned at the top of the top aisle of the walkway plate, the robot is positioned in the middle aisle of.
Further, the step of S5 includes:
when the robot is positioned on the straight line segment of the walkway plate, outputting a control command of the robot for the straight line;
when the robot is positioned at the middle aisle position of the walkway plate and no mark is arranged on the walkway plate, outputting a robot rod lifting control command;
when the robot is positioned at the middle passageway of the walkway plate and is marked on the walkway plate, a control command of turning left by 90 degrees and then directly walking is output, the number of walking wheels of the robot is reset, and the next grain storage grid is leveled;
when the robot is positioned at the top of the passageway plate, if the collected infrared detection signals indicate that the grains are leveled and the number of the walking wheels of the robot is even, outputting a control command for the robot to walk straight after turning left by 90 degrees and a rod lifting control command;
when the robot is positioned at the top of the passageway plate, if the collected infrared detection signals indicate that the grains are flat or the number of the walking wheels of the robot is odd, a control command that the robot turns around to rotate 180 degrees and walks directly is output.
Further, when the grain leveling robot is located on the straight line section of the walking board, whether the grain leveling robot walks on the straight line section with deviation or not can be judged through the line section of the outline of the walking board, and the steps comprise:
shooting a plurality of frames of pictures in real time; respectively calculating the intersection point M between the central line of the straight line segments at the two sides of the walkway plate and the reference lower frame in each frame of picturei(ii) a Calculating the deviation reference distance delta M of two adjacent frames of pictures,wherein, the delta M is a reference distance of the walk-off,
is a point MiWhen Δ M is 0, the grain leveling robot travels along a straight line without deviation, and when Δ M is not equal to 0, the grain leveling robot travels along a deviation.
Further, the step of acquiring the grain leveling signal is as follows:
shooting a laser beam on the surface of the granary, and collecting an image of the laser beam;
the bending degree of laser light in the image of analysis laser, laser light include crooked pitch arc, when the crooked radian more than or equal to predetermined threshold value of crooked pitch arc, then judge for granary surface unevenness, send grain unevenness signal, when crooked radian is less than predetermined threshold value, then judge for granary surface flatness, send grain leveling signal.
Furthermore, the mark on the walkway plate is arranged at the turning position of the T-shaped intersection of the walkway plate.
Based on the concept of a grain leveling robot positioning and motion control method, the device of the grain leveling robot positioning and motion control method is also provided, and comprises at least one processor and a memory which is in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to cause the at least one processor to perform any of the methods described above.
Compared with the prior art, the invention has the beneficial effects that:
by adopting the method, the position of the grain leveling robot on the # -shaped walkway can be obtained in real time, and the control of walking, rod lifting and steering can be completed according to the position.
Description of the drawings:
FIG. 1 is a flow chart of a method for positioning and motion control of a grain leveling robot;
FIG. 2 is a schematic view of the grain leveling robot and the cross-shaped walkway plate;
FIG. 3 is a hexagonal pyramid model of HSV color space in example 1;
FIG. 4 is an illustration of the view angle walkway plate of the grain leveling robot in example 1;
fig. 5 is a diagram showing the arrangement positions of the identification marks on the walkway plate in example 1.
The labels in the figure are: 1-straight line segment; 2-a middle passage is arranged at the right side; 3-the top of the right side is provided with a passageway; 4-the left and the right are provided with middle passageways; 5-a middle top aisle; 6-a middle passage is arranged on the left side; 7-there is a passageway at the top of the left side.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
A positioning and motion control method for a grain leveling robot is disclosed, a flow chart is shown in figure 1, and the method comprises the following steps:
s1, acquiring pictures in front of the robot in real time;
s2, preprocessing the picture to obtain a preprocessed picture;
s3, extracting the line segment of the outline of the walkway plate in the preprocessed picture;
s4, judging the position of the robot on the walkway plate according to the line segment of the contour of the walkway plate in the picture;
and S5, outputting control commands of the robot for straight line walking, rod lifting, turning around and turning 180 degrees or straight walking after turning 90 degrees left according to the position of the robot on the walkway plate, the number of walking wheels of the robot, and the mark or infrared detection signal on the walkway plate.
In step S1, a camera at the front end of the grain leveling robot collects current image information of the grain leveling robot in real time, where the image includes an image of the walkway plate.
The specific steps of S2 include:
s201, carrying out binarization processing on the collected picture based on the HSV color space.
The image binarization is to set the gray value of a pixel point on an image to be 0 or 255, that is, the whole image presents an obvious black and white effect.
HSV color space: HSV (Hue, Saturation) is a color space created by a.r. smith in 1978, also known as the hexagonal cone Model (Hexcone Model), based on the intuitive nature of color. The hexagonal cone model is shown in fig. 3. The parameters of the colors in this model are: hue (H), saturation (S), lightness (V).
In the embodiment, the image information adopts HSV color space coordinates, and binarization processing is performed, so that the extraction of key features of the image at the later stage is facilitated.
And S202, carrying out corrosion expansion processing on the picture after the binarization processing. Mainly comprises the following steps: a region corresponding to the binary image at each pixel position is subjected to a specific logical operation. Corroding and eliminating boundary points to reduce the target and eliminate noise points smaller than the structural elements; and (4) merging background points contacted by the object boundary into the object by expansion, so that the object is enlarged, and the holes in the object are filled.
The specific steps of S3 include:
s301, performing edge detection on the preprocessed picture by adopting a Canny edge detection algorithm.
S302, carrying out Hough line detection on the preprocessed picture subjected to edge detection to obtain a plurality of line segments.
And S303, performing linear fitting on the plurality of line segments by adopting a least square method to obtain the line segments of the outline of the walkway plate.
The Canny edge detection algorithm can be divided into the following 5 steps:
1) a gaussian filter is used to smooth the image and filter out noise.
2) And calculating the gradient strength and the direction of each pixel point in the image.
3) Non-Maximum Suppression (Non-Maximum Suppression) is applied to eliminate spurious responses due to edge detection.
4) A Double-Threshold (Double-Threshold) detection is applied to determine true and potential edges.
5) Edge detection is finally accomplished by suppressing isolated weak edges.
The basic principle of hough line detection is that, in our line detection task, the lines in the image space and the points in the parameter space are in one-to-one correspondence, and the lines in the parameter space and the points in the image space are also in one-to-one correspondence, by using the duality of points and lines. This means that we can draw two very useful conclusions:
1) each line in the image space is represented in the parameter space corresponding to a single point;
2) any part of line segments on the straight line in the image space correspond to the same point in the parameter space.
Therefore, the Hough line detection algorithm is used for converting the line detection problem in the image space into the detection problem of the point in the parameter space, and the line detection task is completed by searching the peak value in the parameter space.
The least square method straight line fitting principle is as follows:
the general equation for a planar line can be expressed as a + Bx-y ═ 0, where a is the intercept of the line and B is the slope of the line. For the measured two-dimensional coordinates (x, y), x is the exact distribution, and y is the observed value, and N is the number of acquired two-dimensional coordinates (x, y). Based on the theory of least squares, we want to find the minimum of the sum of squares of the errors of the observed values. We set the objective function to equation (1):
partial derivatives are calculated for a and B, respectively, and are designated as zero, yielding the following system of equations:
solving this system of equations, a and B can be obtained.
The above steps S1, S2, S3 are image processing parts of a grain leveling robot positioning and motion control method. Firstly, the image collected by the camera is subjected to binarization processing. This binarization process employs a method based on the HSV color space range. Morphological operations such as corrosion expansion and the like are carried out on the image after binarization processing, so that the characteristics of the walkway plate can be well extracted. And then Canny edge detection is carried out on the obtained result image, and Hough line detection is further carried out on the edge image to obtain a series of discontinuous line segments. And finally, performing straight line fitting by using a least square method to finally obtain an ideal straight line capable of reflecting the outline of the walkway plate. With the straight line reflecting the contour of the walkway plate, the subsequent state logic judgment part can be carried out.
Steps S4 and S5 are logical decision sections:
s4, judging the position of the robot on the walkway plate according to the line segment of the contour of the walkway plate in the picture;
and S5, outputting control commands of the robot for straight line walking, rod lifting, turning around and turning 180 degrees for straight walking or turning 90 degrees for straight walking after turning left according to the position of the robot on the walkway plate, the number of walking wheels of the robot and grain leveling signals.
The logic judgment part mainly utilizes machine vision (a camera acquires pictures) to carry out a series of judgments of the robot, including judgment of whether to go straight, judgment of whether to raise a rod, judgment of whether to turn around and turn 180 degrees, judgment of whether to turn around and route the next passageway and judgment of whether to turn around and enter the vertical passageway. The robot can see a walkway plate from the viewpoint of the robot as shown in fig. 4. The legend types include: a straight line segment; the left side is provided with a middle passageway; the right side is provided with a middle passageway; the left and the right are provided with middle passageways; a middle top aisle; the top of the left side is provided with a passageway and the top of the right side is provided with a passageway. The judgment basis of each type is as follows:
1) judging whether to go straight
And judging whether a horizontal straight line exists in the image, if not, determining that the robot is positioned on the straight line section. It is also possible to judge whether the robot travels along the straight line of the walkway plate without deviation at this time. In the process of linear walking of the robot, multiple frames of pictures are shot in real time, the straight line segments on the two sides of the walkway plate are detected through the image preprocessing part, so that center lines of the straight line segments on the two sides are obtained, a reference line (for example, a parallel line with a distance of K from the lower frame of the picture) is arranged at the same position of each frame of picture, the intersection point of the center line and a preset parallel line is an M point, and each frame of picture has one M point which is sequentially numbered as M0, M1, M2 and M3 … …. Point M in two adjacent frame imagesiThe distance of the left deviation and the right deviation of the walkway is obtained by subtracting the horizontal coordinates of the walkway,
wherein, the delta M is a reference distance of the walk-off,is a point MiI is 1,2,3,4 …. When the delta M is not equal to 0, the robot walks along the straight line without deviation, and when the delta M is not equal to 0, the robot walks in a deviated way, the reference distance of the deviation is fed back to the bottom layer control, and the direction and the speed of the robot are adjusted by the bottom layer control.
2) Whether to raise the rod is judged
When the robot walks in-process, when meetting to have and advancing direction vertically guidance tape, if not lift the pole, level grain pole will hit horizontal guidance tape, so, when meetting to have and advancing direction vertically guidance tape, the robot need lift the pole, judges whether the robot carries out the action of lifting the pole, has two steps:
judging whether a horizontal straight line exists. And detecting the line segment of the outline of the walkway plate through an image preprocessing part, and if detecting that the left side has a middle aisle, the right side has a middle aisle or the left side and the right side have middle aisles, performing the step II.
And feeding back a bottom layer control end. And feeding back the detected lifting rod information to the bottom layer control end.
3) Steering determination
Because the route that has set for the robot in advance is for starting to level from the grain storage check of leftmost side, levels the grain in the grain storage check from left to right in proper order, so, the robot mainly carries out turning to the judgement in three aspect: whether the machine turns around by 180 degrees or not, whether the machine turns left by 90 degrees to move to the next grain storage grid or not and whether the machine turns left by 90 degrees to enter the vertical aisle or not are judged after the initial position of the next grain storage grid of the aisle. The method comprises the following specific steps:
judging whether a horizontal straight line exists. And (5) detecting a line segment of the outline of the walkway plate through an image preprocessing part, and if a horizontal line segment is detected, performing the step two.
And secondly, judging whether the robot is positioned at the top or in the middle of the vertical walkway plate. If the robot is on top of the walkway plate, there must be no line segment above the uppermost horizontal line segment representing the contour of the walkway plate, and this can be achieved by this feature. If the robot is detected to be in the middle of the walkway plate, as shown in fig. 4 at 2, 4 and 6, the robot only performs the rod raising motion at this time. If the robot is detected on top of the walkway plate, as in fig. 4 3, 5 and 7, the number of times to reach the top of the walkway plate is counted. The walking track is in a shape like a Chinese character 'hui', the robot walks on two sides of the walking track in the shape like a Chinese character 'hui', and when walking through one round, the robot encounters an image (the count is 1) at the top of the walking board once, walks to the top of the walking board after returning, encounters an image (the count is 2) at the top of the walking board once, and so on, the walking count value is increased along with the walking board when the robot walks flat, when the count value is an odd number, the robot is positioned at one end of the walking board, the image at the top of the walking board acquired at the moment is set as an upper top, when the count value is an even number, the robot is positioned at the other end of the walking board, and the image at the top of the walking board acquired at the moment is set as.
And judging whether the robot turns around for 180 degrees or not. And repeating the step II, if the robot is positioned at the top of the walkway plate and the counting value is odd, indicating that the position of the robot is not the lower top but the upper top, and at the moment, sending a control instruction that the robot directly walks after turning 180 degrees.
And judging whether the robot turns left by 90 degrees to move to the next grain storage grid. And repeating the step two, checking the count value at the same time, if the count value is an even number, enabling the robot to be positioned at the lower top, presetting that the robot can only rotate for 90 degrees left at the lower top to move to the next grain storage grid, and sending a control instruction for the robot to move straight after rotating for 90 degrees left to move to the next grain storage grid if the grain leveling signal indicates that the grain is leveled.
And judging whether the grain enters the vertical passage by turning left for 90 degrees after the initial position of the next grain storage grid of the passage. In the process that the robot moves to the next grain storage grid, if the detected image is as the legend of 6 in fig. 4 and the mark can be identified on the walkway plate, the robot is indicated to have moved to the grain storage grid to be leveled, and at the moment, an instruction of moving straight after turning left by 90 degrees is sent.
The method for judging the grain leveling signal comprises the following steps: a laser beam is shot to the surface of the granary on the grain leveling rod, an image of the laser beam is collected, and the leveling degree of the surface of the granary is judged by analyzing the bending degree of the laser beam. The bending degree of laser light in the image of analysis laser, laser light include crooked pitch arc, when the crooked radian more than or equal to predetermined threshold value of crooked pitch arc, then judge for granary surface unevenness, send grain unevenness signal, when crooked radian is less than predetermined threshold value, then judge for granary surface flatness, send grain leveling signal.
The identification marks on the walkway plate are arranged at positions as shown in fig. 5, the marks are arranged at the turning positions of the T-shaped intersections at the tops of the walkway plate, each mark can be a symbol (such as a five-pointed star shape, a left-turning arrow symbol, a diamond shape, a triangle shape, a circle shape and the like) with a specific shape, can be a two-dimensional code, and can also be a character symbol.
Claims (10)
1. A grain leveling robot positioning and motion control method is characterized by comprising the following steps:
s1, acquiring pictures in front of the robot in real time, wherein the pictures comprise images of the walkway plates;
s2, preprocessing the picture to obtain a preprocessed picture;
s3, extracting the line segment of the outline of the walkway plate in the preprocessed picture;
s4, judging the position of the robot on the walkway plate according to the line segment of the contour of the walkway plate in the picture;
and S5, outputting a control command of the robot for straight line walking, rod lifting, turning around and turning 180 degrees or straight walking after turning 90 degrees left according to the position of the robot on the walkway plate, the number of walking wheels of the robot, and a mark or grain leveling signal on the walkway plate.
2. The grain leveling robot positioning and motion control method according to claim 1, wherein the specific step of S2 comprises:
s201, performing binarization processing on the picture based on an HSV color space;
and S202, carrying out corrosion expansion processing on the picture after the binarization processing.
3. The grain leveling robot positioning and motion control method according to claim 1, wherein the specific step of S3 comprises:
s301, performing edge detection on the preprocessed picture by adopting a Canny edge detection algorithm;
s302, carrying out Hough line detection on the preprocessed picture subjected to edge detection to obtain a plurality of line segments;
and S303, performing linear fitting on the plurality of line segments by adopting a least square method to obtain the line segments of the outline of the walkway plate.
4. The method for controlling positioning and motion of a flat grain robot as claimed in claim 1, wherein the line segment type of the outline of the walkway plate in the picture comprises: a straight line segment; the left side is provided with a middle passageway; the right side is provided with a middle passageway; the left and the right are provided with middle passageways; a middle top aisle; the top of the left side is provided with a passageway and the top of the right side is provided with a passageway.
5. The grain leveling robot positioning and motion control method according to claim 4, wherein the specific step of S4 comprises:
s401, judging whether a horizontal line segment exists in the line segments of the outline of the walkway plate, if not, positioning the robot on the straight line segment of the walkway plate, and if so, performing the step S402;
s402, judging whether the horizontal line segment of the outline of the walkway plate is positioned in the middle of the outline of the walkway plate or at the top of the outline of the walkway plate, if the horizontal line segment of the outline of the walkway plate is positioned in the middle of the outline of the walkway plate, the robot is positioned in the middle aisle of the walkway plate, and if the horizontal line segment of the outline of the walkway plate is positioned at the top of the top aisle of the walkway plate, the robot is positioned in the middle aisle of the.
6. The grain leveling robot positioning and motion control method according to claim 5, wherein the step of S5 comprises:
when the robot is positioned on the straight line section of the walkway plate, outputting a control command of the robot for the straight line;
outputting a robot lever-up control command when the robot is located at a position of a middle aisle of the walkway plate and there is no marker on the walkway plate;
when the robot is positioned at the middle passageway of the walkway plate and is marked on the walkway plate, a control command of turning left by 90 degrees and then walking straight is output, the number of walking wheels of the robot is reset, and the next grain storage grid is leveled;
when the robot is positioned at the top of the passageway plate, if the grain leveling signal indicates that the grains are leveled and the number of the walking wheels of the robot is even, outputting a control command for the robot to walk straight after turning left by 90 degrees and a rod lifting control command;
when the robot is positioned at the top of the passageway plate, if the grain leveling signal indicates that the grain is not leveled or the number of the walking wheels of the robot is odd, a control command that the robot turns around to rotate 180 degrees to walk straight is output.
7. The grain leveling robot positioning and motion control method according to claim 6, wherein when the grain leveling robot is located on a straight line segment of a walkway plate, whether the grain leveling robot has a deviation when walking on the straight line segment can be judged through a line segment of a contour of the walkway plate, and the method comprises the following steps:
shooting a plurality of frames of pictures in real time; respectively calculating the intersection point M between the central line of the straight line segments at the two sides of the walkway plate and the reference lower frame in each frame of picturei(ii) a Calculating the deviation reference distance delta M of two adjacent frames of pictures,
wherein, the delta M is a reference distance of the walk-off,
is a point Mi1,2,3,4 …; when the delta M is equal to 0, the grain leveling robot walks along the straight line without deviation, and when the delta M is not equal to 0, the grain leveling robot walks in a deviation manner.
8. The grain leveling robot positioning and motion control method according to any one of claims 1-7, wherein the grain leveling signal is obtained by the steps of:
shooting a laser beam on the surface of the granary, and collecting an image of the laser beam;
and analyzing the bending degree of the laser light in the laser image, wherein the laser light comprises a bending arc line, when the bending radian of the bending arc line is greater than or equal to a preset threshold value, judging that the surface of the granary is not flat, and sending a grain non-flat signal, and when the bending radian is less than the preset threshold value, judging that the surface of the granary is flat, and sending a grain flat signal.
9. The grain leveling robot positioning and motion control method according to any one of claims 1-7, wherein the mark on the walkway plate is set at a T-junction turn of the walkway plate.
10. The device for the grain leveling robot positioning and motion control method is characterized by comprising at least one processor and a memory which is in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 9.
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