Robot line patrol navigation system based on machine vision

Abstract

The invention belongs to the technical field of robot navigation, and discloses a robot line patrol navigation system based on machine vision. The system comprises a predetermined patrol line, a navigation mark parallel to the predetermined patrol line and a visual robot. The visual robot comprises a visual robot body; a visual image acquisition module, mounted on one side, close to the navigationmark, of the visual robot body and used for acquiring image information around the visual robot in three directions, wherein navigation mark image information or obstacle image information is collected in a first direction, obstacle image information is collected in the second direction and the third direction, the second direction is perpendicular to the first direction, the first direction is located between the second direction and the third direction, and the included angle between the first direction and the third direction is any one of 30-90 degrees; an image processing module; a maincontrol module. In conclusion, the system has the advantages of being simple in construction cost and high in navigation and obstacle avoidance accuracy.

Description

technical field [0001] The invention belongs to the technical field of robot navigation, and in particular relates to a robot line inspection navigation system based on machine vision. Background technique [0002] Line-following navigation is a commonly used robot navigation method. Its principle is to set a navigation line on the ground, and the robot will recognize the navigation line and move along the navigation line. In the traditional line-following navigation methods, magnetic guidance, electromagnetic induction and other guidance methods are used. These methods all involve the laying of magnetic strip guide rails, and the existing environment needs to be modified. The cost is high and it is easily affected by the electromagnetic field in the installation environment. , prone to navigation failures. [0003] In addition, if there is an obstacle on the navigation line, the robot needs to have the function of accurate obstacle avoidance. In the prior art, when perfor...

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Problems solved by technology

[0004] In view of this, the purpose of the present invention is to provide a robot line-following navigation system based on machine vision, specifically to form real-time guided navigation and obstacle avoidance with the cooperation of machine vision, thereby effectively solving the problems of navigation and obstacle avoidance failures in the prior art. The problem

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