Granary leveling robot path planning and decision-making method based on TOF depth camera

Abstract

The invention relates to the technical field of granary robot navigation, and provides a granary leveling robot path planning and decision-making method based on a TOF depth camera. The method comprises the following steps: three-dimensional image information of a local area of a grain pile is obtained, all convex hulls in the local area are found, and a highest salient point is found to serve asa target point, wherein the convex hull corresponding to the highest salient point is a to-be-leveled convex hull; 9 square grids are formed by taking a starting point as a center, the cost of movingfrom the starting point to a center point of each grid at the periphery is calculated, the point with the minimum cost is selected as a to-be-moved point, and the point serves as a new starting pointto search for the point to be moved next time until a local optimal path is formed; and then the to-be-leveled convex hull is subjected to granary leveling operation at the target point reached alongthe local optimal path, and the operation is carried out on the next local area until the whole granary is leveled. The method has higher accuracy and adaptability in a complex environment of a non-continuous terrain, and the autonomy of a granary leveling robot in the granary leveling operation is improved.

Description

technical field [0001] The invention relates to the technical field of granary robot navigation, in particular to a path planning and decision-making method for a warehouse closing robot based on a TOF depth camera. Background technique [0002] Grain storage is related to national security and social stability, and the innovation and development of grain storage technology has attracted much attention. As the last processing link when grain is about to enter the conventional storage stage, the unwinding operation is very important, because the unwinding operation determines the flatness of the grain surface, and the flatness of the grain surface is directly related to the ventilation, fumigation and ventilation during grain storage. The implementation effect of grain storage technology such as grain temperature measurement and control will affect the safety of grain during storage. [0003] At present, the main operation mode of the closing operation is the manual method, ...

AI Technical Summary

Problems solved by technology

The accuracy and adaptability of the existing path planning and decision-making methods of the closing robot in the discontinuous terrain environment are poor, which makes the autonomy of the closing robot in the closing operation not high enough

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