Autonomous robot inspection method based on double yellow line detection

Abstract

The invention relates to an autonomous robot inspection method based on double yellow line detection. The method comprises steps that an image pre-processing step is carried out as follows, 1.1), image down-sampling and interest-area extraction are carried out; 1.2), the yellow information and the gray level of an image are extracted; 1.3), histogram equalization and binarization are carried out; and 1.4), morphological transformation is carried out; 2, zodiac line identification and center line positioning are carried out as follows, 2.1), refinement and Hof linear detection are carried out; and 2.2), intermediate line positioning of the double yellow lines based on a vector is carried out; 3, the mobile strategy is carried out as follows, a point D is searched from a straight line C, a y value of the point D is a fixed value, an x value changes with the straight line C, through determining the position of the point D, mobile robot decision is carried out. The autonomous robot inspection method based on double yellow line detection is advantaged in that accuracy, flexibility and economic property are realized.

Description

technical field [0001] The invention belongs to a robot autonomous movement control method, and relates to a robot autonomous inspection method based on double yellow line detection. Background technique [0002] The robot patrol algorithm with fixed path has always been a research hotspot at home and abroad because of its high applicability in factories, shopping malls, warehouses and other places. At present, the main fixed-path algorithms are roughly divided into the following categories: [0003] 1) Patrol algorithm with image recognition function. Establish the video path and set the monitoring points in advance, and the robot can patrol the monitoring points according to the pre-set video path. [0004] 2) Patrol algorithm using markers. A number of markers (magnetic guidance markers, magnetic guide rails, etc.) are set on the patrol path in advance, and the robot moves along the direction of the markers. [0005] 3) Patrol algorithm based on linear sequential logi...

AI Technical Summary

Problems solved by technology

[0007] In order to overcome the shortcomings of the existing robot inspection methods that cannot take into account accuracy, flexibility and economy, the present invention provides an autonomous inspection method for robots based on double yellow line detection that takes into account accuracy, flexibility and economy

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