Real-time color auto acquisition robot control method and the robot

Abstract

The invention relates to a method for controlling an automatic real-time color collection robot. The method comprises the steps as follows: (1) the top of a robot is provided with a coping which are distributed with a plurality of color code samples; (2) the color code samples are sampled, and all collected color code information is processed for threshold segmentation; (3) when the robot gets a color overall image, all color block information in the image is obtained by fast color segment and a sequential connected region searching algorithm; (4) relative color block information is obtained by step (3), a color block is picked up and processed for triangular / trapeziform template matching with a template which is stored in advance to find out a proximal template, so as to calculate the pixel coordinate and the angle information in the current static overall image of a target corresponding to the template; (5) the self-positioning operation of the robot is finished; and (6) the path layout of the robot is determined, so as to realize the automatic movement of the robot.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to an autonomously moving robot control method for high-speed visual color collection and processing and a corresponding robot system. Background technique [0002] Autonomous mobile robots can identify and measure targets and obstacles in real time, learn and understand the external environment, and perform motion planning according to the set goals, adjust motion planning in real time without human intervention, move to the destination, and complete the settings work. Therefore, it can help human beings to complete some work that is harmful to the human body and cannot be directly participated in by human beings, such as dangerous and delicate work such as field work, deep sea exploration, military reconnaissance, space development, and nuclear pollution. [0003] At present, the autonomous mobile robot system is mainly composed of four parts: motion mechanism, sensor mechanism, ...

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Problems solved by technology

[0007] An object of the present invention is to provide a robot control method for automatic real-time color collection, so as to solve the problem that human factors in the prior art cause extremely sensitive changes in lighting conditions, resulting in offline static collection of color information that is not suitable for real-time environments. Technical Problems of Robot Color Recognition

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