Robot walking patrol method, device, computer equipment and medium thereof

Abstract

The present invention provides a robot walking picketing method, device, computer equipment and medium thereof, wherein the method comprises: obtaining a first shot image and a second shot image, finding a reference line and two identical target coordinate points through the first shot image and the second shot image, and then obtaining a first angle, a second angle and a third angle, and picketing the position of the robot through the three angles. The beneficial effects of the present invention are: picketing the positioning of the robot is achieved, thereby reducing the deviation of the line setting and improving the accuracy of the line setting.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence, and in particular to a robot walking patrol method, device, computer equipment and medium thereof. Background Art

[0002] Ink lines are commonly used by workers as construction reference marks in construction sites. Robotic laying out has the advantages of accurate laying out and saving manpower and other resources. Currently, laying out lines using robots has become a research direction. Currently, the positioning of robots is mainly to quickly locate the workpiece after finding the initial position through the moving distance and direction. However, due to the complexity of the environment or other factors, the robot's positioning is inaccurate, resulting in deviations in laying out lines. Summary of the invention

[0003] The main purpose of the present invention is to provide a robot walking patrol method, device, computer equipment and medium thereof, aiming to solve the problem of inaccurate positioning of the robot, resulting in deviation in line laying.

[0004] The present invention provides a robot walking patrol method, comprising:

[0005] After receiving the patrol instruction, a first captured image and a second captured image are acquired; wherein the first captured image is an image captured at a first time point, and the second captured image is an image captured at a second time point;

[0006] Find a reference line and two identical target coordinate points through the first photographed image and the second photographed image, and mark the positions of the first photographed image and the second photographed image;

[0007] Acquire a first angle, a second angle, and a third angle according to the reference line and the two identical target coordinate points, wherein the first angle is the angle between the reference line and the straight line connecting the two identical target coordinate points in the first captured image, the second angle is the angle between the reference line and the straight line connecting the two identical target coordinate points in the second captured image, and the third angle is the angle between the straight lines connecting the two identical target coordinate points in the first captured image and the second captured image respectively;

[0008] comparing the angle difference between the first angle and the second angle with a third angle;

[0009] The position of the robot is picketed based on the comparison results.

[0010] Further, the camera for acquiring the first captured image and the second captured image is a wide-angle camera, and the first captured image and the second captured image have the same range, and in the step of acquiring the first angle, the second angle, and the third angle according to the reference line and the two identical target coordinate points, the step of acquiring the first angle includes:

[0011] taking any edge line of the first captured image and the second captured image as a reference line;

[0012] Selecting two target coordinate points that are the same in both the first captured image and the second captured image; wherein, if there are multiple target coordinate points, selecting two target coordinate points with the largest distance;

[0013] A first angle between a straight line of two identical target coordinate points and the reference line is obtained in the first captured image.

[0014] Further, in the step of acquiring the first angle, the second angle and the third angle according to the reference line and the two identical target coordinate points, the step of acquiring the second angle includes:

[0015] Detecting two identical target coordinate points in the second captured image corresponding to the first captured image;

[0016] A second angle between a straight line of two identical target coordinate points and the reference line is obtained in the second captured image.

[0017] Further, in the step of acquiring the first angle, the second angle and the third angle according to the reference line and the two identical target coordinate points, the step of acquiring the third angle includes:

[0018] Extracting, by using a preset Canny operator, an edge of a line segment between two identical target coordinate points in the first captured image and the second captured image;

[0019] The third angle between two line segments corresponding to two identical target coordinate points is calculated by a preset angle histogram voting method.

[0020] Furthermore, before the step of finding a reference line and two identical target coordinate points through the first photographed image and the second photographed image and marking positions on the first photographed image and the second photographed image, the step further includes:

[0021] Determine whether there are at least two identical target coordinate points in the first captured image and the second captured image;

[0022] If there are not at least two identical target coordinate points, the shooting direction of the camera is adjusted to obtain the captured image again.

[0023] Furthermore, the step of monitoring the position of the robot according to the comparison result includes:

[0024] If the comparison result is greater than the preset comparison result, the movement of the robot is paused and repositioned through a preset Beidou positioning system.

[0025] Furthermore, after the step of monitoring the position of the robot according to the comparison result, the method further comprises:

[0026] The robot's position is updated according to the picket results.

[0027] The present invention also provides a robot walking picket device, comprising:

[0028] A first acquisition module is used to acquire a first captured image and a second captured image after receiving a patrol instruction; wherein the first captured image is an image captured at a first time point, and the second captured image is an image captured at a second time point;

[0029] A finding module, used to find a reference line and two identical target coordinate points through the first photographed image and the second photographed image, and mark the positions of the first photographed image and the second photographed image;

[0030] A second acquisition module is used to acquire a first angle, a second angle and a third angle according to the reference line and the two identical target coordinate points, wherein the first angle is the angle between the straight line connecting the two identical target coordinate points in the first captured image and the reference line, the second angle is the angle between the straight line connecting the two identical target coordinate points in the second captured image and the reference line, and the third angle is the angle between the straight lines connecting the two identical target coordinate points in the first captured image and the second captured image respectively;

[0031] A comparison module, configured to compare an angle difference between the first angle and the second angle with a third angle;

[0032] The picket module is used to picket the position of the robot according to the comparison result.

[0033] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0034] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned methods are implemented.

[0035] The beneficial effects of the present invention are as follows: the first shot image and the second shot image are obtained, and the reference line and two identical target coordinate points are found through the first shot image and the second shot image, and then the first angle, the second angle and the third angle are obtained, and the position of the robot is monitored through the three angles. Thus, the positioning of the robot is monitored, and the deviation of the line setting is reduced, thereby improving the accuracy of the line setting. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of a robot walking patrol method according to an embodiment of the present invention;

[0037] Figure 2 It is a schematic structural block diagram of a robot walking picket device according to an embodiment of the present invention;

[0038] Figure 3 A schematic block diagram of the structure of a computer device according to an embodiment of the present application.

[0039] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. The connection can be a direct connection or an indirect connection.

[0042] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone.

[0043] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] Reference Figure 1 The present invention proposes a robot walking patrol method, comprising:

[0045] S1: after receiving a patrol instruction, obtaining a first captured image and a second captured image; wherein the first captured image is an image captured at a first time point, and the second captured image is an image captured at a second time point;

[0046] S2: finding a reference line and two identical target coordinate points through the first photographed image and the second photographed image, and marking positions on the first photographed image and the second photographed image;

[0047] S3: acquiring a first angle, a second angle, and a third angle according to the reference line and the two identical target coordinate points, wherein the first angle is the angle between the straight line connecting the two identical target coordinate points in the first captured image and the reference line, the second angle is the angle between the straight line connecting the two identical target coordinate points in the second captured image and the reference line, and the third angle is the angle between the straight lines connecting the two identical target coordinate points in the first captured image and the second captured image respectively;

[0048] S4: comparing the angle difference between the first angle and the second angle with a third angle;

[0049] S5: Picket the position of the robot according to the comparison result.

[0050] As described in the above step S1, after receiving the picket instruction, the first shot image and the second shot image are obtained; wherein, the first shot image is an image shot at a first time point, and the second shot image is an image shot at a second time point. The picket instruction can be input through an external device to obtain the picket instruction, or it can be triggered by a fixed point, for example, it can be set to trigger according to a preset interval time when the robot starts laying out the line, and send the picket instruction to the robot. The camera for shooting the first shot image and the second shot image is set on the robot, and a rotating device can also be set, which is set on the robot through the rotating device, and the shooting direction can be rotated by the rotating device. In addition, the camera is a wide-angle camera, and the first shot image and the second shot image are the same size.

[0051] As described in the above step S2, a reference line and two identical target coordinate points are found through the first captured image and the second captured image, and the positions are marked in the first captured image and the second captured image, wherein the identical target coordinate points can be identified by image recognition technology. In addition, the target coordinate points are pre-set coordinate points, and their corresponding positions have marking information, such as ink dot information. Two identical target coordinate points can be found based on the marking information and image recognition technology. The selection of the reference line is not limited, and generally the edge line of the image can be used as the reference line.

[0052] As described in the above step S3, the first angle, the second angle and the third angle are obtained according to the reference line and the two identical target coordinate points. The specific acquisition method will be described in detail later and will not be repeated here.

[0053] As described in step S4 above, the angle difference between the first angle and the second angle is compared with the third angle. If the angle difference between the first angle and the second angle and the third angle is less than a preset threshold, it means that the position of the robot is normal; otherwise, it means that the positioning of the robot has deviated and further calibration is required.

[0054] As described in step S5 above, the position of the robot is checked according to the comparison result. The checking method may be to adjust the posture of the robot or to reposition it through the Beidou positioning system. Thus, the positioning of the robot is checked, which leads to a reduction in the deviation of the line setting and improves the accuracy of the line setting.

[0055] In one embodiment, the camera for acquiring the first captured image and the second captured image is a wide-angle camera, and the first captured image and the second captured image have the same range. In the step of acquiring the first angle, the second angle, and the third angle according to the reference line and the two identical target coordinate points, the step S3 of acquiring the first angle includes:

[0056] S301: taking any edge line of the first captured image and the second captured image as a reference line;

[0057] S302: selecting two target coordinate points that are common to both the first captured image and the second captured image; if there are multiple target coordinate points, selecting two target coordinate points with the largest distance;

[0058] S303: Acquire a first angle between a straight line of two identical target coordinate points and the reference line in the first captured image.

[0059] As described in the above steps S301-S303, any edge line of the first shot image and the second shot image is used as a reference line. It should be noted that the edge line selected for the first shot image and the second shot image is the same edge line. Two identical target coordinate points in both the first shot image and the second shot image are selected. The selection method may be to select by image recognition technology, and obtain the first angle between the straight line of the two identical target coordinate points and the reference line in the first shot image. Since the two line segments are known in the first shot image, the first angle can be obtained.

[0060] In one embodiment, in the step of acquiring the first angle, the second angle, and the third angle according to the reference line and the two identical target coordinate points, the step S3 of acquiring the second angle includes:

[0061] S311: Detecting two identical target coordinate points in the second captured image corresponding to the first captured image;

[0062] S312: Acquire a second angle between a straight line of two identical target coordinate points and the reference line in the second captured image.

[0063] As described in the above steps S311-S312, two identical target coordinate points corresponding to the first captured image are detected in the second captured image, and the second angle between the straight line of the two identical target coordinate points and the reference line is obtained in the second captured image. Since the two identical target coordinate points have been determined, the corresponding straight line can also be determined in the second captured image, so the second angle can be obtained.

[0064] In one embodiment, in the step of acquiring the first angle, the second angle, and the third angle according to the reference line and the two identical target coordinate points, the step S3 of acquiring the third angle includes:

[0065] S321: extracting, by using a preset Canny operator, an edge of a line segment between two identical target coordinate points in the first captured image and the second captured image;

[0066] S322: Calculate the third angle between two line segments corresponding to two identical target coordinate points by using a preset angle histogram voting method.

[0067] As described in the above steps S321-S322, since the two straight lines corresponding to the first captured image and the second captured image belong to different images, they can be extracted by the Canny operator. The extracted edge has good robustness and accuracy and is often used for edge extraction. Then, the angle histogram is used for calculation to obtain the corresponding third angle.

[0068] In one embodiment, the step of finding the reference line and the two identical target coordinate points through the first photographed image and the second photographed image, and before the step S2 of marking the positions of the first photographed image and the second photographed image, further comprises:

[0069] S101: Determine whether there are at least two identical target coordinate points in the first captured image and the second captured image;

[0070] S102: If there are not at least two identical target coordinate points, adjust the shooting direction of the camera and reacquire the captured image.

[0071] As described in the above steps S101-S102, determine whether there are at least two identical target coordinate points in the first captured image and the second captured image. If there are not at least two identical target coordinate points, adjust the shooting direction of the camera and reacquire the captured image. That is, the captured image may not have the same target coordinate points. This situation occurs in the initial stage or the final stage of line drawing. At this time, there are very few target coordinate points in the shooting direction. Therefore, the shooting direction of the camera can be adjusted to reacquire the captured image.

[0072] In one embodiment, the step S5 of monitoring the position of the robot according to the comparison result includes:

[0073] S501: If the comparison result is greater than the preset comparison result, the movement of the robot is paused, and repositioned through a preset Beidou positioning system.

[0074] As described in step S501, if the comparison result is greater than the preset comparison result, the movement of the robot is suspended and repositioned through the preset Beidou positioning system. This means that rapid positioning based on the moving position and direction is no longer reliable. This situation is generally caused by the robot's uneven road surface or obstacles, so it is necessary to reposition through the preset Beidou positioning system.

[0075] In one embodiment, after the step S5 of monitoring the position of the robot according to the comparison result, the method further includes:

[0076] S601: Update the position of the robot according to the inspection result.

[0077] As described in the above step S601, the position of the robot is updated according to the inspection result, that is, the position of the robot is updated according to the Beidou positioning system.

[0078] Reference Figure 2 The present invention also provides a robot walking picket device, comprising:

[0079] A first acquisition module 10 is used to acquire a first captured image and a second captured image after receiving a patrol instruction; wherein the first captured image is an image captured at a first time point, and the second captured image is an image captured at a second time point;

[0080] A finding module 20, used to find a reference line and two identical target coordinate points through the first photographed image and the second photographed image, and mark the positions of the first photographed image and the second photographed image;

[0081] A second acquisition module 30 is used to acquire a first angle, a second angle and a third angle according to the reference line and the two identical target coordinate points, wherein the first angle is the angle between the straight line connecting the two identical target coordinate points in the first captured image and the reference line, the second angle is the angle between the straight line connecting the two identical target coordinate points in the second captured image and the reference line, and the third angle is the angle between the straight lines connecting the two identical target coordinate points in the first captured image and the second captured image respectively;

[0082] A comparison module 40, configured to compare the angle difference between the first angle and the second angle with a third angle;

[0083] The monitoring module 50 is used to monitor the position of the robot according to the comparison result.

[0084] Other embodiments of the robot walking patrol device of the present invention are the same as the above method and will not be described again here.

[0085] The beneficial effects of the present invention are as follows: the first shot image and the second shot image are obtained, and the reference line and two identical target coordinate points are found through the first shot image and the second shot image, and then the first angle, the second angle and the third angle are obtained, and the position of the robot is monitored through the three angles. Thus, the positioning of the robot is monitored, and the deviation of the line setting is reduced, thereby improving the accuracy of the line setting.

[0086] Reference Figure 3 In an embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store various captured images, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the robot walking patrol method described in any of the above embodiments can be implemented.

[0087] Those skilled in the art will understand that Figure 3 The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0088] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the robot walking patrol method described in any of the above embodiments can be implemented.

[0089] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0090] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, device, article or method including the element.

[0091] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0092] AI basic technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics, etc. AI software technologies mainly include computer vision technology, robotics technology, biometrics technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A robot walking patrol method, characterized in that: include: After receiving the patrol instruction, a first captured image and a second captured image are acquired; wherein the first captured image is an image captured at a first time point, and the second captured image is an image captured at a second time point; Find a reference line and two identical target coordinate points through the first photographed image and the second photographed image, and mark the positions of the first photographed image and the second photographed image; Acquire a first angle, a second angle, and a third angle according to the reference line and the two identical target coordinate points, wherein the first angle is the angle between the reference line and the straight line connecting the two identical target coordinate points in the first captured image, the second angle is the angle between the reference line and the straight line connecting the two identical target coordinate points in the second captured image, and the third angle is the angle between the straight lines connecting the two identical target coordinate points in the first captured image and the second captured image respectively; comparing the angle difference between the first angle and the second angle with a third angle; Picket the position of the robot based on the comparison result; The camera for acquiring the first captured image and the second captured image is a wide-angle camera, and the first captured image and the second captured image have the same range. In the step of acquiring the first angle, the second angle, and the third angle according to the reference line and the two identical target coordinate points, the step of acquiring the first angle includes: taking any edge line of the first captured image and the second captured image as a reference line; Selecting two target coordinate points that are the same in both the first captured image and the second captured image; wherein, if there are multiple target coordinate points, selecting two target coordinate points with the largest distance; Acquire a first angle between a straight line of two identical target coordinate points and the reference line in the first captured image; In the step of acquiring the first angle, the second angle and the third angle according to the reference line and the two identical target coordinate points, the step of acquiring the second angle includes: Detecting two identical target coordinate points in the second captured image corresponding to the first captured image; Acquire a second angle between a straight line of two identical target coordinate points and the reference line in the second captured image; In the step of obtaining the first angle, the second angle and the third angle according to the reference line and the two identical target coordinate points, the step of obtaining the third angle includes: Extracting, by using a preset Canny operator, an edge of a line segment between two identical target coordinate points in the first captured image and the second captured image; The third angle between two line segments corresponding to two identical target coordinate points is calculated by a preset angle histogram voting method.

2. The robot walking patrol method according to claim 1, characterized in that: The method further comprises: finding a reference line and two identical target coordinate points through the first photographed image and the second photographed image, and before the step of marking positions of the first photographed image and the second photographed image: Determine whether there are at least two identical target coordinate points in the first captured image and the second captured image; If there are not at least two identical target coordinate points, the shooting direction of the camera is adjusted to obtain the captured image again.

3. The robot walking patrol method according to claim 1, characterized in that: The step of monitoring the position of the robot according to the comparison result comprises: If the comparison result is greater than the preset comparison result, the movement of the robot is paused and repositioned through a preset Beidou positioning system.

4. The robot walking patrol method according to claim 1, characterized in that: After the step of picking the position of the robot according to the comparison result, the method further includes: The robot's position is updated according to the picket results.

5. A robot walking picket device, characterized in that: include: A first acquisition module is used to acquire a first captured image and a second captured image after receiving a patrol instruction; wherein the first captured image is an image captured at a first time point, and the second captured image is an image captured at a second time point; A finding module, used to find a reference line and two identical target coordinate points through the first photographed image and the second photographed image, and mark the positions of the first photographed image and the second photographed image; A second acquisition module is used to acquire a first angle, a second angle and a third angle according to the reference line and the two identical target coordinate points, wherein the first angle is the angle between the straight line connecting the two identical target coordinate points in the first captured image and the reference line, the second angle is the angle between the straight line connecting the two identical target coordinate points in the second captured image and the reference line, and the third angle is the angle between the straight lines connecting the two identical target coordinate points in the first captured image and the second captured image respectively; A comparison module, configured to compare an angle difference between the first angle and the second angle with a third angle; A picketing module, used for picking the position of the robot according to the comparison result; The camera for acquiring the first captured image and the second captured image is a wide-angle camera, and the first captured image and the second captured image have the same range. In the step of acquiring the first angle, the second angle, and the third angle according to the reference line and the two identical target coordinate points, the step of acquiring the first angle includes: taking any edge line of the first captured image and the second captured image as a reference line; Selecting two target coordinate points that are the same in both the first captured image and the second captured image; wherein, if there are multiple target coordinate points, selecting two target coordinate points with the largest distance; Acquire a first angle between a straight line of two identical target coordinate points and the reference line in the first captured image; In the step of acquiring the first angle, the second angle and the third angle according to the reference line and the two identical target coordinate points, the step of acquiring the second angle includes: Detecting two identical target coordinate points in the second captured image corresponding to the first captured image; Acquire a second angle between a straight line of two identical target coordinate points and the reference line in the second captured image; In the step of obtaining the first angle, the second angle and the third angle according to the reference line and the two identical target coordinate points, the step of obtaining the third angle includes: Extracting, by using a preset Canny operator, an edge of a line segment between two identical target coordinate points in the first captured image and the second captured image; The third angle between two line segments corresponding to two identical target coordinate points is calculated by a preset angle histogram voting method.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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