CN101763117A - Reconnaissance robot - Google Patents
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- CN101763117A CN101763117A CN200910242507A CN200910242507A CN101763117A CN 101763117 A CN101763117 A CN 101763117A CN 200910242507 A CN200910242507 A CN 200910242507A CN 200910242507 A CN200910242507 A CN 200910242507A CN 101763117 A CN101763117 A CN 101763117A
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Abstract
The embodiment of the invention relates to the field of mobile robots, in particular to a reconnaissance robot. The reconnaissance robot comprises an image processing and tracking system, a control box system and a moving chassis system; the image processing and tracking system is used to semi-automatically and manually track a moving target, acquire the image of the tracked moving target and process the acquired image in order to overcome the shaking of the image caused by the moving robot; the control box system with the function of wirelessly simulating a joystick or a mouse is used to carry out the basic functions of a mouse cursor in the interface of an upper computer; and the moving chassis system is used to receive the target-tracking instruction of the control box system or the image processing and tracking system and track the target according to the target-tracking instruction. The reconnaissance robot can be manually and semi-automatically controlled to move in an unstructured environment, and effectively overcomes the shaking of the image caused by the moving robot, thus enhancing the stability and observability of each frame of the acquired image.
Description
Technical field
The present invention relates to the mobile robot field, relate in particular to a kind of reconnaissance robot that carries out target following that can be partly independently moves.
Background technology
Reconnaissance robot is a kind of as the mobile robot's, existing ten years development history, it is mainly used in fields such as fight against terrorism and violence, explosive, chemical defence, dangerous material detection, disaster relief, so this robotlike is usually used in as in the non-structure environments such as massif, meadow, disaster scene.
In non-structured environment, the image capturing system of robot usually is faced with phenomenons such as image imaging instability, influenced the validity of the related algorithm of image capturing system, therefore, overcoming the physics shake of robot in moving process is problem demanding prompt solution to the influence of image acquisition.
Simultaneously, generally, continuous monitoring, judgement that the mobile needs of reconnaissance robot are artificial form the control general layout of people in control loop, and there are the following problems at least for this artificial control general layout: mistake appears in error and the absence from duty because of operating personnel often.
Summary of the invention
The embodiment of the invention provides a kind of reconnaissance robot, can realize the half autonomous mobile target following of carrying out.
The embodiment of the invention is achieved through the following technical solutions:
The embodiment of the invention provides a kind of reconnaissance robot, comprising: Flame Image Process tracker, the control box system with wireless simulation Rocking-bar mouse function, bobbin movement system;
Described Flame Image Process tracker, be used for half autonomous the tracking and manual tracking of moving target, gather the image of the moving target of being followed the tracks of, the image of gathering is handled, and in Flame Image Process by the algorithm of electronic steady image, overcome robot in advancing to rocking that image causes;
Described control box system with wireless simulation Rocking-bar mouse function is used for realizing the basic function of the cursor of mouse at host computer interface, and assistant images is handled tracker to motion target detection;
Described bobbin movement system is used to receive described target following order with control box system or described Flame Image Process tracker of wireless simulation Rocking-bar mouse function, comes tracking target according to described target following order campaign.
Described Flame Image Process tracker is the Flame Image Process tracker based on the gyrostabilized platform of diaxon framework.
Described Flame Image Process tracker is used for the diaxon motor speed ring control of platform with the Sliding mode variable structure control algorithm on the gyrostabilized platform of diaxon framework, and cooperates the stable correction of PID, forms the stable control algolithm of twin nuclei.
Described Flame Image Process tracker comprises: electronic steady image unit, image acquisition units, background modeling unit, object detection unit, feature extraction unit and target following control module;
Described electronic steady image unit, the some frames that are used for image that robot is gathered at traveling process carry out electronic steady image to be handled;
Described image acquisition units is used to gather the some frames through the image after the electronic steady image processing;
Described background modeling unit is used for the some two field pictures to described image acquisition units collection, adopts median filtering method to carry out background modeling;
Described object detection unit is used for when moving target enters described background, detects target in the mode of reception artificial selection or according to the foreground image information that system database is preserved, and extracts its foreground picture;
Described feature extraction unit is used to adopt the histogrammic mode of foreground picture to add up target signature;
Described target following control module is used to send the target following order, and the control chassis system moves tracking target, control The Cloud Terrace to carry out the visual angle locking and the control two axis gyroscope turns to tracking, to keep lasting scouting and the tracking to target.
Described electronic steady image unit is by the iconic model of contrast present frame and previous frame, and the motion vector of analysis image by the retrograde mobile motion vector of image slices vegetarian refreshments, reaches the purpose of electronic steady image.
Described target following control module adopts the CamShift image processing algorithm to send the target following order, and the formula below wherein using comes the Bhattacharyya coefficient among the approximate representation Camshift, and whether analyzes lose objects in view of the above;
Wherein,
Be the feature histogram of candidate target,
Feature histogram for object module.
Described control box system with wireless simulation Rocking-bar mouse function adopts the core processing unit of single-chip microcomputer as the Rocking-bar mouse data.
Described control box system with wireless simulation Rocking-bar mouse function comprises rocking bar, button and wireless data delivery unit parts, and that the basic function of described cursor of mouse comprises is mobile, frame selects, clicks, double-clicks.
Described bobbin movement system adopts single-chip microcomputer as core processing unit.
Described bobbin movement system is by described control box system control with wireless simulation Rocking-bar mouse function, described control box system with wireless simulation Rocking-bar mouse function adopts the A/D translation function of single-chip microcomputer to realize chassis twin shaft potentiometer, Rocking-bar mouse twin shaft potentiometer, the voltage signal of The Cloud Terrace twin shaft potentiometer is to the conversion of digital signal, for the control box system with wireless simulation Rocking-bar mouse function provides reliable transmission data, I/O function and interrupt function with single-chip microcomputer realize the demonstration of LCD and the selection of driving switch, pass to the bobbin movement system by the wireless data delivery unit again, described bobbin movement system realizes that by the transmission data analog mouse control and D/A change, moving wheel in order to the drive machines people, reach the purpose of artificial control, this bobbin movement system realizes the autonomous tracking of reconnaissance robot by the target following order that receives the Flame Image Process tracker simultaneously.
The technical scheme that is provided by the invention described above embodiment as can be seen, the described reconnaissance robot of the embodiment of the invention has been realized artificially controlling the two control patterns that move with half Autonomous Control in non-structure environment, thereby can realize moving target from motion tracking and detection, for reconnaissance robot is trailed and is kept visual angle, lock onto target that more advanced technology is provided.
In addition, the image of the moving target that the reconnaissance robot collection of the embodiment of the invention is followed the tracks of, the image of gathering is handled, and in Flame Image Process the algorithm by electronic steady image, effectively overcome robot in advancing to rocking that image causes, strengthened the stability and the observability of each two field picture of image acquisition.
Description of drawings
Fig. 1 is embodiment of the invention reconnaissance robot and the structural representation with wireless simulation Rocking-bar mouse function control box;
Fig. 2 is that the embodiment of the invention is based on diaxon restrained gyroscope stable platform Flame Image Process tracker synoptic diagram;
Fig. 3 is an embodiment of the invention Flame Image Process tracker structural drawing;
Fig. 4 is an embodiment of the invention bobbin movement system architecture synoptic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, be understandable that described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
One embodiment of the invention provides a kind of reconnaissance robot, and as shown in Figure 1, this reconnaissance robot comprises: Flame Image Process tracker, the control box system with wireless simulation Rocking-bar mouse function, bobbin movement system;
Described Flame Image Process tracker, half autonomous the tracking with manual that is used for moving target followed the tracks of, and gathers the image of the moving target of being followed the tracks of, and the image of gathering is handled, and reaches the purpose of target following.And can be by the algorithm of electronic steady image in Flame Image Process, overcome robot in advancing to rocking that image causes.
The described Flame Image Process tracker of the embodiment of the invention is the Flame Image Process tracker based on the gyrostabilized platform of diaxon framework, be illustrated in figure 2 as synoptic diagram based on the Flame Image Process tracker of the gyrostabilized platform of diaxon framework, the image acquisition of the Flame Image Process tracker of the reconnaissance robot of the embodiment of the invention partly is positioned on the gyrostabilized platform of diaxon framework, platform has adopted the twin shaft framework based on the gyro feedback stability, auxiliary stability and the observability that has improved each two field picture of image acquisition.This platform is controlled the Sliding mode variable structure control algorithm application in the speed ring of motor, and cooperates PID to stablize correcting algorithm, has formed the stable control algolithm of twin nuclei.
A kind of embodiment of described Flame Image Process tracker structure comprises: electronic steady image unit, image acquisition units, background modeling unit, object detection unit, feature extraction unit and target following control module as shown in Figure 3.
Described electronic steady image unit, the some frames that are used for image that robot is gathered at traveling process carry out electronic steady image to be handled, with eliminate robot in traveling process to rocking that image causes, this electronic steady image unit is by the iconic model of contrast present frame and previous frame, the motion vector of analysis image, by the retrograde mobile motion vector of image slices vegetarian refreshments, reach the purpose of electronic steady image;
Described image acquisition units is based upon on the biax gyrostabilized platform, is used to gather the some frames through the image after the electronic steady image processing, for the subsequent image processing algorithm provides object;
Described background modeling unit is used for the some two field pictures to described image acquisition units collection, adopts median filtering method to carry out background modeling;
Described object detection unit is used for when moving target enters described background, in the mode that receives artificial selection moving target is set at detected object, extracts its foreground picture, realizes target detection; Also can the target that need tracking be set, when target enters in the described background, will carry out from motion tracking image according to the foreground image information of system database preservation.
Described feature extraction unit is used to adopt the histogrammic mode of foreground picture to add up target signature;
Described target following control module, be used to adopt the improved CamShift image processing algorithm of the present invention to send the target following order, the control chassis system moves tracking target, control The Cloud Terrace to carry out the visual angle locking and the control two axis gyroscope turns to tracking, to keep lasting scouting and the tracking to target.Subsequent embodiment of the present invention will describe in detail to described improved CamShift algorithm.
Realize that autonomous process of following the tracks of comprises: when target to be tracked appears in the visual field, come frame to select target by mouse, afterwards the target of being chosen is carried out modeling, modeling begins to follow the tracks of after finishing.Then lose processing accordingly if find track rejection in the tracing process.It follows the tracks of the improved Camshift track algorithm of processing procedure referring to follow-up introduction.
Described control box system with the empty energy of wireless simulation Rocking-bar mouse, be used for forming control box by parts such as rocking bar, button and wireless data delivery units, realize the basic function of the cursor of mouse in the host computer interface, comprise functions such as mobile, frame selects, clicks, double-click, assist the Flame Image Process tracker to motion target detection, realized the pursuit movement of robot.The described control box system with wireless simulation Rocking-bar mouse function of the embodiment of the invention adopts the core processing unit of single-chip microcomputer as the Rocking-bar mouse data.
Described bobbin movement system is used to receive the control box system with wireless simulation Rocking-bar mouse function or the target following order of described Flame Image Process tracker, comes tracking target according to described target following order campaign.The bobbin movement system that the embodiment of the invention provides adopts single-chip microcomputer as core processing unit.
The bobbin movement system that the embodiment of the invention provides can be by the control box system control with wireless simulation Rocking-bar mouse function, its structural representation as shown in Figure 4, described control box system with wireless simulation Rocking-bar mouse function adopts single-chip microcomputer as core processing unit, adopt the A/D translation function of single-chip microcomputer to realize chassis twin shaft potentiometer, Rocking-bar mouse twin shaft potentiometer, the voltage signal of The Cloud Terrace twin shaft potentiometer is to the conversion of digital signal, for the control box system with wireless simulation Rocking-bar mouse function provides reliable transmission data, I/O function and interrupt function with single-chip microcomputer realize the demonstration of liquid crystal dot matrix display and the selection of driving switch, pass to the bobbin movement system by the wireless data delivery unit again, it is core that this bobbin movement system adopts single-chip microcomputer, realize analog mouse control and D/A conversion by the transmission data, obtain analog mouse information and cradle head control information, moving wheel in order to the drive machines people, comprise revolver and right wheel, reach the purpose of artificial control.This bobbin movement system passes through the autonomous tracking of the target following order realization reconnaissance robot of reception Flame Image Process tracker simultaneously, so this system has realized the Autonomous Control and the artificial pair control models of controlling of reconnaissance robot.
The described reconnaissance robot of the embodiment of the invention has been realized artificially controlling the two control patterns that move with half Autonomous Control in non-structure environment, thereby can realize moving target from motion tracking and detection, for reconnaissance robot is trailed and kept the visual angle lock onto target that more advanced technology is provided.
The track algorithm of the reconnaissance robot that the embodiment of the invention provides is improved CamShift algorithm, and this algorithm has been realized the extraction of foreground information in the robot vision, and has realized the effective tracking to related objective.
Formula (1) below the embodiment of the invention is used comes the Bhattacharyya coefficient among the approximate representation Camshift, and whether analyzes lose objects in view of the above, handles thereby carry out emergency measure at different situations.
Wherein,
Be the feature histogram of candidate target,
Feature histogram for object module.
After the moving target position of form center and target sizes that system obtains, at first carry out the conversion of rgb space in receiving detection algorithm, extract chromatic component Hue, and set up the model of the one dimension histogram of moving target thus as moving target to the HSV space; Secondly,, carry out the conversion of rgb space again, extract after the Hue component, utilize the histogram that the Target Modeling stage obtains, the probability distribution density of calculated candidate target (histogram back projection) to the HSV space for the image of each frame update; Once more, calculate coefficient of similarity, be used for assessing the similarity degree between candidate target and the moving target model according to formula (1); Then by the CamShift iterative algorithm, obtain in the current frame image and the object module candidate target position of " similar " the most; By calculating similarity, determine whether the target that will follow the tracks of has taken place to lose, if do not lose, then thereafter image is repeated said process, constantly obtain nearest target location, if lose, then detect moving target again, carry out above-mentioned improved CamShift track algorithm.
In sum, the described reconnaissance robot of the embodiment of the invention has been realized artificially controlling the two control patterns that move with half Autonomous Control in non-structure environment, thereby can realize moving target from motion tracking and detection, for reconnaissance robot is trailed and kept the visual angle lock onto target that more advanced technology is provided.
In addition, the image of the moving target that the reconnaissance robot collection of the embodiment of the invention is followed the tracks of, the image of gathering is handled, and in Flame Image Process the algorithm by electronic steady image, effectively overcome robot in advancing to rocking that image causes, strengthened the stability and the observability of each two field picture of image acquisition.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (10)
1. a reconnaissance robot is characterized in that, comprising: Flame Image Process tracker, the control box system with wireless simulation Rocking-bar mouse function, bobbin movement system;
Described Flame Image Process tracker, be used for half autonomous the tracking and manual tracking of moving target, gather the image of the moving target of being followed the tracks of, the image of gathering is handled, and in Flame Image Process by the algorithm of electronic steady image, overcome robot in advancing to rocking that image causes;
Described control box system with wireless simulation Rocking-bar mouse function is used for realizing the basic function of the cursor of mouse at host computer interface, and assistant images is handled tracker to motion target detection;
Described bobbin movement system is used to receive described target following order with control box system or described Flame Image Process tracker of wireless simulation Rocking-bar mouse function, comes tracking target according to described target following order campaign.
2. reconnaissance robot as claimed in claim 1 is characterized in that, described Flame Image Process tracker is the Flame Image Process tracker based on the gyrostabilized platform of diaxon framework.
3. reconnaissance robot as claimed in claim 2, it is characterized in that, described Flame Image Process tracker is on the gyrostabilized platform of diaxon framework, the Sliding mode variable structure control algorithm is used for the diaxon motor speed ring control of platform, and cooperate the stable correction of PID, form the stable control algolithm of twin nuclei.
4. reconnaissance robot as claimed in claim 1 or 2 is characterized in that, described Flame Image Process tracker comprises: electronic steady image unit, image acquisition units, background modeling unit, object detection unit, feature extraction unit and target following control module;
Described electronic steady image unit, the some frames that are used for image that robot is gathered at traveling process carry out electronic steady image to be handled;
Described image acquisition units is used to gather the some frames through the image after the electronic steady image processing;
Described background modeling unit is used for the some two field pictures to described image acquisition units collection, adopts median filtering method to carry out background modeling;
Described object detection unit is used for when moving target enters described background, detects target in the mode of reception artificial selection or according to the foreground image information that system database is preserved, and extracts its foreground picture;
Described feature extraction unit is used to adopt the histogrammic mode of foreground picture to add up target signature;
Described target following control module is used to send the target following order, and the control chassis system moves tracking target, control The Cloud Terrace to carry out the visual angle locking and the control two axis gyroscope turns to tracking, to keep lasting scouting and the tracking to target.
5. reconnaissance robot as claimed in claim 4, it is characterized in that described electronic steady image unit is by the iconic model of contrast present frame and previous frame, the motion vector of analysis image, by the retrograde mobile motion vector of image slices vegetarian refreshments, reach the purpose of electronic steady image.
6. reconnaissance robot as claimed in claim 4, it is characterized in that, described target following control module adopts the CamShift image processing algorithm to send the target following order, formula below wherein using comes the Bhattacharyya coefficient among the approximate representation Camshift, and whether analyzes lose objects in view of the above;
Wherein,
Be the feature histogram of candidate target,
Feature histogram for object module.
7. reconnaissance robot as claimed in claim 1 is characterized in that, described control box system with wireless simulation Rocking-bar mouse function adopts the core processing unit of single-chip microcomputer as the Rocking-bar mouse data.
8. reconnaissance robot as claimed in claim 1, it is characterized in that, described control box system with wireless simulation Rocking-bar mouse function comprises rocking bar, button and wireless data delivery unit parts, and that the basic function of described cursor of mouse comprises is mobile, frame selects, clicks, double-clicks.
9. reconnaissance robot as claimed in claim 1 is characterized in that, described bobbin movement system adopts single-chip microcomputer as core processing unit.
10. reconnaissance robot as claimed in claim 8, it is characterized in that, described bobbin movement system is by described control box system control with wireless simulation Rocking-bar mouse function, described control box system with wireless simulation Rocking-bar mouse function adopts the A/D translation function of single-chip microcomputer to realize chassis twin shaft potentiometer, Rocking-bar mouse twin shaft potentiometer, the voltage signal of The Cloud Terrace twin shaft potentiometer is to the conversion of digital signal, for the control box system with wireless simulation Rocking-bar mouse function provides reliable transmission data, I/O function and interrupt function with single-chip microcomputer realize the demonstration of LCD and the selection of driving switch, pass to the bobbin movement system by the wireless data delivery unit again, described bobbin movement system realizes that by the transmission data analog mouse control and D/A change, moving wheel in order to the drive machines people, reach the purpose of artificial control, this bobbin movement system realizes the autonomous tracking of reconnaissance robot by the target following order that receives the Flame Image Process tracker simultaneously.
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| CN2009102425077A CN101763117B (en) | 2009-12-15 | 2009-12-15 | Reconnaissance robot |
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| CN2009102425077A CN101763117B (en) | 2009-12-15 | 2009-12-15 | Reconnaissance robot |
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| CN101763117B CN101763117B (en) | 2011-11-16 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102880179A (en) * | 2012-09-19 | 2013-01-16 | 山东康威通信技术股份有限公司 | Multifunctional intelligent routing inspection robot used in power tunnel |
| CN104935896A (en) * | 2015-06-29 | 2015-09-23 | 广州杰赛科技股份有限公司 | Device and system for sensing adaptive motion environment |
| CN106514654A (en) * | 2016-11-11 | 2017-03-22 | 国网浙江宁海县供电公司 | Patrol method of robot and patrol robot |
| CN109542121A (en) * | 2018-11-23 | 2019-03-29 | 北京理工大学 | A kind of round-the-clock unmanned mobile reconnaissance equipment and its control method applied to frontier defense |
| CN112248010A (en) * | 2020-10-27 | 2021-01-22 | 北京晶品特装科技股份有限公司 | Portable scout robot control simulation device |
-
2009
- 2009-12-15 CN CN2009102425077A patent/CN101763117B/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102880179A (en) * | 2012-09-19 | 2013-01-16 | 山东康威通信技术股份有限公司 | Multifunctional intelligent routing inspection robot used in power tunnel |
| CN102880179B (en) * | 2012-09-19 | 2016-01-27 | 山东康威通信技术股份有限公司 | Multifunctional intelligent crusing robot in a kind of electric power tunnel |
| CN104935896A (en) * | 2015-06-29 | 2015-09-23 | 广州杰赛科技股份有限公司 | Device and system for sensing adaptive motion environment |
| CN104935896B (en) * | 2015-06-29 | 2019-03-08 | 广州杰赛科技股份有限公司 | Adaptive motion environment arrangement for detecting and system |
| CN106514654A (en) * | 2016-11-11 | 2017-03-22 | 国网浙江宁海县供电公司 | Patrol method of robot and patrol robot |
| CN109542121A (en) * | 2018-11-23 | 2019-03-29 | 北京理工大学 | A kind of round-the-clock unmanned mobile reconnaissance equipment and its control method applied to frontier defense |
| CN109542121B (en) * | 2018-11-23 | 2020-09-15 | 北京理工大学 | All-weather unmanned mobile reconnaissance equipment applied to frontier defense and control method thereof |
| CN112248010A (en) * | 2020-10-27 | 2021-01-22 | 北京晶品特装科技股份有限公司 | Portable scout robot control simulation device |
| CN112248010B (en) * | 2020-10-27 | 2021-06-25 | 北京晶品特装科技股份有限公司 | Portable scout robot control simulation device |
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| CN101763117B (en) | 2011-11-16 |
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