Autonomous robot inspection method based on double yellow line detection

A robot and double yellow line technology, applied in the direction of instruments, computer components, character and pattern recognition, etc., can solve the problems of not being able to balance accuracy, flexibility and economy, and achieve the effect of high accuracy

Active Publication Date: 2017-12-05
杭州岱石科技有限公司
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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 prese

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  • Autonomous robot inspection method based on double yellow line detection
  • Autonomous robot inspection method based on double yellow line detection
  • Autonomous robot inspection method based on double yellow line detection

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Embodiment Construction

[0067] The present invention will be further described below in conjunction with the accompanying drawings.

[0068] refer to Figure 1 to Figure 5 , a method for autonomous inspection of a robot based on double yellow line detection, comprising the following steps:

[0069] 1) Image preprocessing

[0070] 1.1) Image downsampling and region of interest extraction

[0071] The image obtained from the kinect camera has a resolution of 1920*1080, but such a high resolution is not required to identify the ecliptic lines. Therefore, the image is scaled to a resolution of 480*270 to reduce the calculation amount of the algorithm and increase the frame rate of the real-time image processing.

[0072] Since the ecliptic lines are arranged on the ground, only the lower half of the picture obtained from the camera presents the ground scene. Therefore, the region of interest is set as the lower half of the image to reduce external influences and improve the accuracy of the algorithm....

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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...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46G06K9/52
CPCG06V20/588G06V10/507G06V10/42
Inventor 张永良朱欣定时大琼
Owner 杭州岱石科技有限公司
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