CN110738689A - Method, system and device for trolleys to automatically follow and avoid targets - Google Patents
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Abstract
The invention discloses a method for trolleys to automatically follow and avoid targets, which comprises the following steps of constructing a coordinate system on the basis of a trolley, setting system parameters, acquiring a front image of the trolley in real time by a camera arranged on the trolley, converting the image into a gray image, carrying out filtering and opening and closing operations on the gray image, carrying out edge extraction on an operation result to obtain the edge of the whole image, identifying and separating the target to be followed and avoided by an interframe difference algorithm to obtain an edge area of the target, obtaining an external rectangular area of the target by using a centroid location method according to the edge area, calculating the relative position between the external rectangular area of the target and the external rectangular area of the trolley, calculating the motion track and the optimal position of the trolley by combining the system parameters, converting the motion track into a motion control instruction of the trolley, controlling the trolley to move to the optimal position, and outputting and displaying the result in real time.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to an technology for automatically following and avoiding targets by trolleys.
Background
However, the current implementation technology mainly depends on ultrasonic waves, laser sensors or radars, while the implementation in special motion environments needs to be configured with a larger number of sensors, which leads to more complex design and increased cost.
Disclosure of Invention
The invention aims to solve the technical problem of providing trolleys which automatically follow and hide targets and a method thereof aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the method for providing trolleys to automatically follow and avoid targets comprises the following steps:
step1, constructing a coordinate system on the basis of the trolley, and determining an effective working rectangular area of the camera and an external rectangular area of the trolley;
step2, a camera arranged on the trolley acquires a front-view image of the trolley in an RGB565 format in real time, converts the image into image data in a YCbCr422 format, and extracts a Y component to obtain a gray-scale image;
step3, performing median filtering or mean filtering on the gray level image, performing switching operation, then performing edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating the target which needs to be followed and avoided by an interframe difference algorithm to obtain the edge area of the target;
step4, obtaining a circumscribed rectangular area of the target according to the edge area by using a centroid positioning method, calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley, and calculating the motion track and the optimal position of the trolley by using the relative position according to the following and avoiding requirements;
step5, converting the movement track of the trolley into a movement control instruction of the trolley, controlling the trolley to move to the optimal position, and outputting and displaying the result in real time;
and Step6, repeating Step 2-Step 5 to ensure that the trolley automatically follows and avoids the target at the optimal position.
There is provided a system for automatic tracking and evading of a vehicle, comprising:
the system parameter setting module is used for constructing a coordinate system on the basis of the trolley and determining an effective working rectangular area of the camera and an external rectangular area of the trolley;
the image preprocessing module is used for acquiring a front-view image of the trolley in an RGB565 format in real time through a camera arranged on the trolley, converting the front-view image into image data in a YCbCr422 format, and extracting a Y component to obtain a gray-scale image;
the target detection and extraction module is used for carrying out median filtering or mean filtering on the gray level image, carrying out switching operation, then carrying out edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating the target which needs to be followed and avoided by an interframe difference algorithm to obtain the edge area of the target;
the position calculation module is used for solving a circumscribed rectangular region of the target according to the edge region by using a centroid positioning method, calculating the relative position between the circumscribed rectangular region of the target and the circumscribed rectangular region of the trolley, and calculating the motion track and the optimal position of the trolley by using the relative position according to the following and avoiding requirements;
and the motion control module is used for converting the motion track of the trolley into a motion control instruction of the trolley, controlling the trolley to move to the optimal position and outputting and displaying the result in real time.
The device for automatically following and avoiding the target of the trolley is provided, and comprises the trolley, an operation control unit, a camera and a display unit, wherein the operation control unit and the camera are arranged on the trolley, the display unit is arranged at the far end, and the operation control unit is respectively connected with the trolley, the camera and the display unit;
the trolley moves according to the control instruction;
the camera is used for acquiring a front view image of the trolley;
the operation control unit is used for realizing the method for automatically following and avoiding the target of the trolley in the claim 1, processing the image acquired by the camera, identifying the target which is automatically followed and needs to be avoided, calculating the motion track and controlling the trolley to move;
and the display unit displays the image acquired by the camera and the image processing result in real time.
According to the technical scheme, the trolley is a wheel type trolley driven by a motor.
According to the technical scheme, the camera is a COMS-based 200 ten thousand pixel camera, and the image data format is RGB 565.
In connection with the above technical solution, the microcontroller of the operation control unit is FPGA, ARM, DSP or a combination thereof.
The method, the system and the device for automatically following and avoiding the targets of the trolleys have the advantages that the camera is arranged on the trolley to obtain a forward-looking image of the trolley in real time, the operation control unit is used for identifying the following and avoiding targets of the trolley through an image processing algorithm, the movement track and the optimal position of the trolley are calculated according to the relative position of the targets and the trolley, the trolley is controlled to move to the optimal position, and the purpose of automatically following and avoiding the targets is achieved.
Drawings
The invention will be further described with reference to the drawings and examples, in which:
FIG. 1 is a schematic diagram of an apparatus according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of automatically following and evading targets in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of a specific implementation of method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the automatic following principle of an embodiment of the present invention.
Detailed Description
For purposes of making the objects, aspects and advantages of the present invention more apparent, the present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in FIG. 1, the invention provides an method for automatically following and avoiding targets by a trolley, which comprises the following steps:
s1, constructing a coordinate system on the basis of the trolley, and determining an effective working rectangular area of the camera and an external rectangular area of the trolley;
s2, a camera arranged on the trolley acquires a front-view image of the trolley in an RGB565 format in real time, converts the image into image data in a YCbCr422 format, and extracts a Y component to obtain a gray-scale image;
s3, performing median filtering or mean filtering on the gray level image, performing on-off operation, then performing edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating the target needing to be followed and avoided through an interframe difference algorithm to obtain the edge area of the target;
s4, obtaining a circumscribed rectangular area of the target according to the edge area by using a centroid positioning method, calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley, and calculating the motion track and the optimal position of the trolley by using the relative position according to the following and avoiding requirements;
s5, converting the movement track of the trolley into a movement control instruction of the trolley, controlling the trolley to move to the optimal position, and outputting and displaying the result in real time;
s6, repeating Step 2-Step 5 to ensure that the trolley automatically follows and avoids the target at the optimal position.
There is provided a system for automatic tracking and evading of a vehicle, comprising:
the system parameter setting module is used for constructing a coordinate system on the basis of the trolley and determining an effective working rectangular area of the camera and an external rectangular area of the trolley;
the image preprocessing module is used for acquiring a front-view image of the trolley in an RGB565 format in real time through a camera arranged on the trolley, converting the front-view image into image data in a YCbCr422 format, and extracting a Y component to obtain a gray-scale image;
the target detection and extraction module is used for carrying out median filtering or mean filtering on the gray level image, carrying out switching operation, then carrying out edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating the target which needs to be followed and avoided by an interframe difference algorithm to obtain the edge area of the target;
the position calculation module is used for solving a circumscribed rectangular region of the target according to the edge region by using a centroid positioning method, calculating the relative position between the circumscribed rectangular region of the target and the circumscribed rectangular region of the trolley, and calculating the motion track and the optimal position of the trolley by using the relative position according to the following and avoiding requirements;
and the motion control module is used for converting the motion track of the trolley into a motion control instruction of the trolley, controlling the trolley to move to the optimal position and outputting and displaying the result in real time.
As shown in figure 2, the device for trolleys to automatically follow and avoid targets comprises a trolley 1, an arithmetic control unit 2, a camera 3 and a display unit 4, wherein the arithmetic control unit 2 and the camera 3 are arranged on the trolley 1, the display unit 3 is arranged at the far end, and the arithmetic control unit 2 is respectively connected with the trolley 1, the camera 3 and the display unit 4.
The trolley 1 moves according to the motion control instruction provided by the operation control unit 2.
And the camera 3 acquires a forward-looking image of the trolley 1 in real time and acquires forward-going visual field information of the trolley 1.
The operation control unit 2 is used for realizing the method for automatically following and avoiding the target of the trolley in the claim 1, processing the image acquired by the camera 3, identifying the target which is automatically followed and needs to be avoided, calculating the motion track and controlling the trolley 1 to move.
And a display unit 4 for displaying the image acquired by the camera 3 and the image processing result in real time.
, the cart 1 is a motor-driven wheeled cart.
Further , camera 3 may be a COMS-based 200-million pixel camera with image data format RGB 565.
Further , the micro controller of the arithmetic control unit 2 is FPGA, ARM, DSP or their combination.
The car 1 adopts a cuboid car with wheels and a motor, the operation control unit 2 is based on an FPGA development board, the camera and the camera 3 are OV7725 cameras based on COMS arranged on the FPGA development board, and the display unit 4 is a common display and is connected to the FPGA development board in a wired or wireless mode.
As shown in fig. 3, the specific process of the method for the car to automatically follow and avoid the target is as follows:
the image data collected by the camera is RGB565 format image data, firstly, the image data format is converted, the RGB565 image data format is converted into YCbCr422 image data format, Y component is extracted, thereby obtaining gray level image of image processing, then the gray level image is processed by median filtering or mean filtering, and step opening and closing operation based on expansion corrosion is carried out on the image.
And performing edge extraction algorithm processing on the image, for example, using a sobel operator and the like to obtain the edge of the whole image, and then identifying and separating the target to be tracked or the obstacle to be avoided through an interframe difference algorithm to obtain the edge area of the target.
And obtaining an external rectangular area of the target by a centroid positioning method, and then giving a following algorithm or an obstacle avoidance algorithm to achieve the purpose of controlling the movement of the trolley.
The following algorithm is illustrated by simulating the automatic following process of the cart as shown in fig. 4. initially the cart is located at point a, the black large rectangle 5 is the field of view of the current cart, i.e. the maximum rectangle range that can be captured by the camera at the current position of the cart, assuming that the target to be followed is located at point D in the area of the black large rectangle 5. connecting AO, CO and AC may obtain triangles, line segment AO is the horizontal distance dx of the cart from the target, line segment CO is the vertical distance dy of the cart from the target, line segment AC is the actual linear distance of the cart from the target, then a circumscribed rectangle area is provided according to the determined cart and the followed target, in order to avoid the cart colliding with the target during the following process, the optimal following position is given manually, thereby determining the horizontal distance C1 and the vertical distance C2 of the optimal position cart from the target, obtaining the relative position, i.e. Δ x-dc-1 |, Δ y | dy-C2 |. the relative position is obtained as the cart gets larger the optimal tracking area, the optimal tracking area is obtained, the smaller the initial tracking point B is obtained, otherwise the initial tracking point B is obtained, and the initial tracking point B is calculated if the initial tracking point is reached.
The principle of the obstacle avoidance process is similar to that of the following process, and the obstacle avoidance process only needs to be better if the values of the delta x and the delta y are larger, so that the trolley is more and more away from the optimal following area, and the obstacle avoidance of the trolley on the target is realized.
Compared with the traditional target following or obstacle avoidance algorithm, the algorithm avoids a large number of matrix operations and multiplication-division operations, is simpler and more convenient to realize in principle due to a large number of addition-subtraction operations in terms of hardware, greatly improves the real-time performance of the algorithm, calculates the distance between a camera and the camera in the horizontal direction and the vertical direction by focusing on the accurate position of a target object in the algorithm in aspect, greatly improves the precision requirement of the algorithm, and has high standards in real-time performance and precision.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (6)
- The method for automatically following and avoiding the target by the aid of the trolleys is characterized by comprising the following steps:step1, constructing a coordinate system on the basis of the trolley, and determining an effective working rectangular area of the camera and an external rectangular area of the trolley;step2, a camera arranged on the trolley acquires a front-view image of the trolley in an RGB565 format in real time, converts the image into image data in a YCbCr422 format, and extracts a Y component to obtain a gray-scale image;step3, performing median filtering or mean filtering on the gray level image, performing switching operation, then performing edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating the target which needs to be followed and avoided by an interframe difference algorithm to obtain the edge area of the target;step4, obtaining a circumscribed rectangular area of the target according to the edge area by using a centroid positioning method, calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley, and calculating the motion track and the optimal position of the trolley by using the relative position according to the following and avoiding requirements;step5, converting the movement track of the trolley into a movement control instruction of the trolley, controlling the trolley to move to the optimal position, and outputting and displaying the result in real time;and Step6, repeating steps 2-Step 5, and ensuring that the trolley automatically follows and avoids the target at the optimal position.
- The system for automatically following and avoiding the target by the kinds of trolleys is characterized by comprising:the system parameter setting module is used for constructing a coordinate system on the basis of the trolley and determining an effective working rectangular area of the camera and an external rectangular area of the trolley;the image preprocessing module is used for acquiring a front-view image of the trolley in an RGB565 format in real time through a camera arranged on the trolley, converting the front-view image into image data in a YCbCr422 format, and extracting a Y component to obtain a gray-scale image;the target detection and extraction module is used for carrying out median filtering or mean filtering on the gray level image, carrying out switching operation, then carrying out edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating the target which needs to be followed and avoided by an interframe difference algorithm to obtain the edge area of the target;the position calculation module is used for solving a circumscribed rectangular region of the target according to the edge region by using a centroid positioning method, calculating the relative position between the circumscribed rectangular region of the target and the circumscribed rectangular region of the trolley, and calculating the motion track and the optimal position of the trolley by using the relative position according to the following and avoiding requirements;and the motion control module is used for converting the motion track of the trolley into a motion control instruction of the trolley, controlling the trolley to move to the optimal position and outputting and displaying the result in real time.
- The device for the automatic following and target avoidance of the trolleys is characterized by comprising a trolley, an operation control unit, a camera and a display unit, wherein the operation control unit and the camera are arranged on the trolley, the display unit is arranged at the far end, and the operation control unit is respectively connected with the trolley, the camera and the display unit;the trolley moves according to the control instruction;the camera is used for acquiring a front view image of the trolley;the operation control unit is used for realizing the method for automatically following and avoiding the target of the trolley in the claim 1, processing the image acquired by the camera, identifying the target which is automatically followed and needs to be avoided, calculating the motion track and controlling the trolley to move;and the display unit displays the image acquired by the camera and the image processing result in real time.
- 4. The apparatus of claim 3, wherein the cart is a motor-driven wheeled cart.
- 5. The apparatus of claim 3, wherein the camera is a COMS-based 200-thousand-pixel camera and the image data format is RGB 565.
- 6. The apparatus of claim 3, wherein the microcontroller of the arithmetic control unit is an FPGA, an ARM, a DSP, or a combination thereof.
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