Intelligent obstacle avoidance system and method based on machine vision

A technology of machine vision and intelligent obstacle avoidance, which is applied in the field of intelligent robots, can solve problems such as insufficient intelligence, inconvenient automatic walking process, and inability to avoid emergency obstacles by intelligently following suitcases.

Active Publication Date: 2020-12-08
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problems in the prior art that intelligent following suitcases cannot avoid obstacles urgently, and the automatic walking process is inconvenient and not intelligent enough, the present invention proposes an intelligent obstacle avoidance system and method based on machine vision;

Method used

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  • Intelligent obstacle avoidance system and method based on machine vision
  • Intelligent obstacle avoidance system and method based on machine vision
  • Intelligent obstacle avoidance system and method based on machine vision

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specific Embodiment approach 1

[0098] Embodiment 1: The system consists of two parts: machine hardware drive and software data processing. The machine hardware drive includes single-chip microcomputer, driver board and camera, and software data processing includes image acquisition module, camera calibration module, image processing module and machine vision realization module. .

[0099] The single-chip microcomputer adopts a raspberry pie 3B+ single-chip microcomputer, and the camera is provided with at least two cameras, and the single-chip microcomputer and the video camera are connected to the L298N driver integrated circuit board through circuit pins.

specific Embodiment approach 2

[0100] Specific embodiment two: based on the system composition described in embodiment one, the specific implementation method of the intelligent obstacle avoidance system based on machine vision is as follows:

[0101] Step 1, use the camera calibration module to perform machine binocular vision distance measurement and three-dimensional reconstruction, and use the camera imaging model to establish four coordinate systems;

[0102] Step 2, the camera calibration module simplifies the optical imaging of the camera by establishing a camera imaging model, and then calibrates the camera to complete the establishment of the objective world coordinate system in the camera image plane coordinate system;

[0103] Step 3, using the image processing module to complete removal of image noise, image feature extraction and image edge detection;

[0104] Step 4: The machine vision implementation module implements pre-processing image filtering, performs re-filtering after stereo matching ...

specific Embodiment approach 3

[0105] Specific implementation mode three: In addition to the implementation method described in the specific implementation mode two step one, it can also be refined into the process of establishing a coordinate system and matrix transformation, and the implementation steps are as follows:

[0106] To perform machine binocular vision distance measurement and 3D reconstruction, the camera imaging model must first be studied. The camera imaging model we use generally has 4 coordinate systems:

[0107] (1) The coordinate system of the objective world: the coordinate system in the real world (the abscissa is represented by the X axis, that is, left and right, the vertical coordinate is represented by the Y axis, that is, up and down, and the depth coordinate is represented by the Z axis, that is, the distance), expressed in the world coordinate system The actual position of the object in the objective world.

[0108] (2) Camera coordinate system: the optical center of the camera ...

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Abstract

The invention relates to an intelligent obstacle avoidance system and method based on machine vision, in particular to an intelligent obstacle avoidance suitcase (trolley) based on machine vision, belongs to the technical field of intelligent robots, and aims at solving the problems that in the prior art, an intelligent following suitcase cannot avoid obstacles emergently, the automatic walking process is inconvenient and not intelligent enough. The method comprises a machine hardware drive part and a software data processing part. The machine hardware drive comprises a single-chip microcomputer, a drive board and a camera. Software data processing comprises an image acquisition module, a camera calibration module, an image processing module and a machine vision realization module, an image processing automatic identification target realizes an automatic following function, automatic obstacle avoidance and obstacle identification are realized, so that the intelligent suitcase (trolley)is more convenient, and the travel burden of people is greatly reduced.

Description

technical field [0001] The invention relates to an intelligent obstacle avoidance system and method based on machine vision, in particular to an intelligent obstacle avoidance suitcase (car) based on machine vision, and belongs to the technical field of intelligent robots. Background technique [0002] The purpose of people's research and manufacture of mobile robots is to replace humans in boring or dangerous work such as cargo handling, sanitation and cleaning, military investigation, and monitoring of dangerous environments. Among them, the intelligent unmanned vehicle, which leads the industry, is a mechatronic control system that integrates functions such as environmental monitoring, path planning, automatic control, and assisted driving. [0003] The mobile robot will encounter obstacles in the process of moving to make it out of the working state. The obstacles include not only static objects such as raw materials, workpieces, mechanical equipment, buildings, etc., bu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06K9/00G06K9/20G06K9/40G06K9/62G06T7/80
CPCG05D1/0242G06T7/85G05D1/0251G05D1/0255G05D1/0223G05D1/0214G05D1/0221G05D1/0278G05D1/0276G06V20/64G06V10/225G06V10/30G06F18/23
Inventor 谢金宝李紫玉殷楠楠林木深赵楠陈小威李双庆
Owner HARBIN UNIV OF SCI & TECH
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