CN109782753B - Control method of picking device - Google Patents
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- CN109782753B CN109782753B CN201811548618.6A CN201811548618A CN109782753B CN 109782753 B CN109782753 B CN 109782753B CN 201811548618 A CN201811548618 A CN 201811548618A CN 109782753 B CN109782753 B CN 109782753B
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Abstract
The invention discloses a control method of a picking device, and belongs to the field of mechanical control. The control method comprises the following steps: collecting a scene image; judging whether the picking objects exist in the scene image or not, if so, driving the picking device to move towards the picking objects so as to pick the picking objects, and if not, driving the picking device to move and collecting the scene image again; when the picking device moves, whether obstacles exist around the picking device or not is detected in real time, and if the obstacles exist around the picking device, obstacle avoidance operation is carried out. The invention can control the picking device to automatically pick.
Description
Technical Field
The invention belongs to the field of mechanical control, and particularly relates to a control method of a picking device.
Background
Golf is a popular ball game. A common practice is to swing a golf ball from one location to another, which results in a large amount of golf balls scattered on the course to be recovered after the game is completed. The existing common recovery mode is manual collection, the efficiency is low, and a large amount of manpower is consumed.
Disclosure of Invention
The embodiment of the invention provides a control method of a picking device, which can control the picking device to automatically pick. The technical scheme is as follows:
the embodiment of the invention provides a control method of a picking device, which comprises the following steps:
collecting a scene image;
judging whether a picked object exists in the scene image, if so, driving the picking device to move towards the picked object so as to pick the picked object, and if not, driving the picking device to move and recollect the scene image again;
when the picking device moves, whether obstacles exist around the picking device or not is detected in real time, and if the obstacles exist around the picking device, obstacle avoidance operation is carried out.
Optionally, the collecting the scene image comprises:
taking a color picture right in front of the picking device;
carrying out binarization processing on the color photo according to the color of the picked object to obtain a black-white photo, so that a white area in the black-white photo is an area where the picked object is located;
and carrying out morphological processing on the black-and-white picture to obtain the scene image.
Optionally, before said taking a color picture directly in front of said picking device, comprising:
detecting whether the ambient brightness around the picking device is smaller than the set brightness, and if the ambient brightness around the picking device is smaller than the set brightness, executing light supplementing operation.
Optionally, the determining whether there is a cull in the scene image includes:
detecting whether a shape identical to the outer contour of a picked object exists in the scene image or not through Hough transformation, wherein the picked object exists in the scene image if the shape identical to the outer contour of the picked object exists in the scene image, and the picked object does not exist in the scene image if the shape identical to the outer contour of the picked object does not exist in the scene image.
Optionally, if the cull is not present in the scene image, driving the cull device to move comprises:
driving the picking device to rotate 90 degrees clockwise;
and driving the picking device to move forwards for a set distance after every 90 degrees of clockwise rotation of the picking device for four times continuously.
Optionally, the control method includes:
detecting whether an obstacle exists only in the front of the picking device, and driving the picking device to rotate 90 degrees clockwise if the obstacle exists only in the front of the picking device.
Optionally, the control method includes:
detecting whether an obstacle exists only in the left oblique front of the picking device or not, if so, driving the picking device to rotate clockwise for multiple times, and gradually reducing the angle of each rotation until the obstacle cannot be detected in the left oblique front of the picking device;
detecting whether the picking device only has an obstacle in the right oblique front or not, if so, driving the picking device to rotate anticlockwise for multiple times, and gradually reducing the angle of each rotation until the obstacle cannot be detected in the right oblique front of the picking device.
Optionally, the control method includes:
detecting whether the picking device only has an obstacle on the left side, if so, driving the picking device to rotate clockwise for a plurality of times, and gradually reducing the angle of each rotation until the left side of the picking device can not detect the obstacle;
detecting whether the picking device only has an obstacle on the right side, if the picking device only has an obstacle on the right side, driving the picking device to rotate anticlockwise for multiple times, and gradually reducing the angle of each rotation until the right side of the picking device can not detect the obstacle.
Optionally, the control method includes:
detecting whether at least two directions of a left oblique front, a right front and a right oblique front of the picking device have obstacles, if the at least two directions of the left oblique front, the right front and the right oblique front of the picking device have obstacles, driving the picking device to rotate clockwise for a plurality of times, and gradually reducing the angle of each rotation until the at least two directions of the left oblique front, the right front and the right oblique front of the picking device have no obstacles.
Optionally, the control method includes:
and detecting whether the picking device is fully loaded or not, and executing return operation if the picking device is fully loaded.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the control method of the picking device provided by the embodiment of the invention realizes the control of the picking device, judges whether picking objects (golf balls) exist around the picking device or not according to the collected scene images, drives the picking device to move and pick if the picking objects exist, and drives the picking device to move and collect the scene images again if the picking objects do not exist. That is, if it is determined that there is no picked-up object around the picking device based on the scene image, the picking device is driven to change the direction or position, and then the collection of the scene image and the determination of whether there is a picked-up object are repeated. And in the process of driving the picking device to move, whether obstacles exist around the picking device or not is checked in real time, if so, the obstacles are avoided, so that the collision between the picking device and the obstacles is avoided, and the reliability of the picking device is ensured. Therefore, the control method of the picking device provided by the embodiment of the invention realizes the automatic picking of the golf balls and the automatic obstacle avoidance of the picking device.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling a picking device according to an embodiment of the present invention;
fig. 2 is a flow chart of another control method of the picking device according to the embodiment of the invention;
fig. 3 is a diagram of a sensor arrangement of the picking device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
An embodiment of the present invention provides a control method for a picking device, as shown in fig. 1, the control method includes:
step 101: images of a scene are collected.
Alternatively, the scene image may be an image directly in front of the picking device.
Step 102: and judging whether the picked objects exist in the scene image or not. If the picked-up object exists in the scene image, step 103 is executed, and if the picked-up object does not exist in the scene image, step 104 is executed.
Step 103: the picking device is driven to move towards the picked objects so as to pick the picked objects.
It should be noted that, the bottom of the picking device is provided with a picking wheel, the picking wheel is used for picking the objects (golf balls) picked on the ground, and the picking range of the picking wheel is larger than the range shot by the scene image. That is, as long as the picked-up objects can be captured in the scene image, the picking device only needs to move right ahead, and all the picked-up objects can be picked up.
Step 104: the picking device is driven to move and step 101 is executed again.
Thus, the shooting range of the scene image can be enlarged.
Specifically, when the picking device moves, whether obstacles exist around the picking device or not is detected in real time, and if the obstacles exist around the picking device, obstacle avoidance operation is performed.
The control method of the picking device provided by the embodiment of the invention realizes the control of the picking device, judges whether picking objects (golf balls) exist around the picking device or not according to the collected scene images, drives the picking device to move and pick if the picking objects exist, and drives the picking device to move and collect the scene images again if the picking objects do not exist. That is, if it is determined that there is no picked-up object around the picking device based on the scene image, the picking device is driven to change the direction or position, and then the collection of the scene image and the determination of whether there is a picked-up object are repeated. And in the process of driving the picking device to move, whether obstacles exist around the picking device or not is checked in real time, if so, the obstacles are avoided, so that the collision between the picking device and the obstacles is avoided, and the reliability of the picking device is ensured. Therefore, the control method of the picking device provided by the embodiment of the invention realizes the automatic picking of the golf balls and the automatic obstacle avoidance of the picking device.
Fig. 2 is a control method of another picking device according to an embodiment of the present invention, which further describes the collection of scene images and obstacle avoidance compared to the control method shown in fig. 1, and with reference to fig. 2, the control method includes:
step 201: detecting whether the ambient brightness around the picking device is less than the set brightness, if the ambient brightness around the picking device is less than the set brightness, executing step 202. If the ambient brightness around the picking device is not lower than the set brightness, the process proceeds to step 203 directly.
In particular, the ambient light around the picking device can be checked by a light-sensitive sensor.
When it needs to be explained, the set brightness may be an artificial set value, and may be adjusted accordingly according to actual requirements, which is not limited by the present invention.
Step 202: and (5) performing light supplement operation.
During the concrete realization, can throw light on to the environment of picking up around the device through the LED lamp.
Step 203: a color photograph is taken just in front of the picking device.
In particular, the OPENMV3 camera module can be used to capture color photographs and subsequent processing.
More specifically, the color photograph is converted from the RGB mode to the HSV mode so as to perform step 204.
Step 204: and carrying out binarization processing on the color photo according to the color of the picked object to obtain a black-white photo, wherein the white area in the black-white photo is the area where the picked object is located.
In the above embodiment, since the golf ball is white, when the binarization processing is performed, the white portion in the color photograph is processed to be white in the black-and-white image so that the white area is the area where the picked-up object is located.
Step 205: and carrying out morphological processing on the black and white picture to obtain a scene image.
In the above implementation, the interference existing in the binarized black-and-white photograph is reduced by morphological processing, so that the execution of step 205 can be facilitated, and the determination accuracy is improved. That is, the scene image is a black-and-white photograph that is processed morphologically and then is subjected to interference elimination.
The collection of scene images is achieved via step 202 and 204.
Step 206: and judging whether the picked object exists in the scene image, and if so, executing step 207. If no pickups are present in the scene image, step 208 is performed.
Specifically, in step 205, it is detected whether a shape identical to the outer contour of the picked-up object exists in the scene image through hough transform, if the shape identical to the outer contour of the picked-up object exists in the scene image, and if the shape identical to the outer contour of the picked-up object does not exist in the scene image, the picked-up object does not exist in the scene image.
It should be noted that, in the present embodiment, since the picked-up object is a golf ball, in step 205, it is detected whether there is a circle in the scene image through hough transform, if there is a circle, it indicates that there is a picked-up object in the scene image, and if there is no circle, it indicates that there is no picked-up object in the scene image.
Step 207: the picking device is driven to move towards the picked objects so as to pick the picked objects.
In the above implementation manner, since the scene image is an image directly in front of the picking device, when there is a picked object in the scene image, the picking device is controlled to move towards the directly in front, so that the picked object can be picked.
Step 208: the picking device is driven to move and the scene image is collected again, that is, step 201 is executed.
In specific implementation, the picking device is driven to rotate 90 degrees clockwise. And, every time the picking device rotates clockwise 90 degrees for four times continuously, the picking device is driven to move forward for a set distance.
That is, when there is no picked-up object in the scene image right in front of the picking device, the picking device is rotated clockwise by 90 °, so that the scene image on the left of the picking device can be collected. If the left scene image still has no picked-up object, the picking-up device rotates clockwise for 90 degrees for the second time, so that the scene image behind the picking-up device can be collected. If the picking object does not exist in the scene image at the back, the picking device rotates clockwise for 90 degrees for the third time, so that the scene image at the right of the picking device can be collected. If the left scene image still has no picked-up object, the picking device rotates clockwise 90 ° for the fourth time and returns to the front right, and the picking device is driven to move forward for a set distance due to the picking device and the 90 ° clockwise rotations for four consecutive times, and step 201 is performed again.
It should be noted that the set distance may be an artificial set value, and may be adjusted according to requirements, for example, the set distance may not be greater than a distance that the camera module can shoot right in front of the picking device, which is not limited in the present invention.
In this embodiment, when the picking device moves, whether an obstacle exists around the picking device is detected in real time, and if an obstacle exists around the picking device, an obstacle avoidance operation is performed.
The obstacle avoidance operation is realized by the following specific means:
(1) detecting whether an obstacle exists only in the front of the picking device, and driving the picking device to rotate 90 degrees clockwise if the obstacle exists only in the front of the picking device.
(2) Detecting whether the picking device only has an obstacle in the left oblique front or not, if so, driving the picking device to rotate clockwise for multiple times, and gradually reducing the angle of each rotation until the obstacle cannot be detected in the left oblique front of the picking device.
In the above implementation, when detecting that there is an obstacle only in the front left oblique direction of the picking device, the picking device may first rotate clockwise by a large angle, for example, 25 °, and then reduce the rotation angle by an equal difference, for example, rotate clockwise by 22 °, 19 °, 16 °, and so on, and after each rotation, the obstacle around the picking device is detected again to determine the obstacle avoidance logic. It should be noted that, both the initial rotation angle and the tolerance may be adjusted according to actual requirements, which is not limited in the present invention.
Detecting whether the picking device only has an obstacle in the right oblique front, if so, driving the picking device to rotate anticlockwise for multiple times, and gradually reducing the angle of each rotation until the obstacle cannot be detected in the right oblique front of the picking device.
In the above implementation manner, when detecting that there is an obstacle only in the right oblique front of the picking device, the obstacle avoidance logic is substantially the same as that when detecting that there is an obstacle only in the left oblique front of the picking device, which is not described herein again.
(3) Detecting whether the picking device only has an obstacle on the left side, if so, driving the picking device to rotate clockwise for a plurality of times, and gradually reducing the angle of each rotation until the left side of the picking device can not detect the obstacle.
In the above implementation, when it is detected that there is an obstacle only on the left side of the picking device, the picking device may first rotate clockwise by a large angle, for example, 10 °, and then reduce the rotation angle by an equal difference, for example, rotate clockwise by 8 °, 6 °, 4 °, and the like, and after each rotation, the obstacle around the picking device is detected again to determine the obstacle avoidance logic. It should be noted that, both the initial rotation angle and the tolerance can be adjusted according to actual requirements, and the present invention is not limited thereto.
Detecting whether the picking device only has an obstacle on the right side, if the picking device only has an obstacle on the right side, driving the picking device to rotate anticlockwise for multiple times, and gradually reducing the angle of each rotation until the right side of the picking device can not detect the obstacle.
In the above implementation manner, when it is detected that only the right side of the picking device has an obstacle, the obstacle avoidance logic is substantially the same as that when it is detected that only the left side of the picking device has an obstacle, and details are not described herein.
(4) Detecting whether at least two directions of a left oblique front, a right front and a right oblique front of the picking device have obstacles, if the at least two directions of the left oblique front, the right front and the right oblique front of the picking device have obstacles, driving the picking device to rotate clockwise for a plurality of times, and gradually reducing the angle of each rotation until the at least two directions of the left oblique front, the right front and the right oblique front of the picking device have no obstacles.
In the above implementation, when detecting that there are obstacles in at least two directions of the left oblique front, the right oblique front and the right oblique front of the picking device, the picking device may first rotate clockwise by a large angle, for example, 90 °, and then reduce the rotation angle by an equal difference, for example, rotate clockwise by 70 °, 50 °, 30 °, and so on, and after each rotation, the obstacles around the picking device may be detected again to determine the obstacle avoidance logic. For example, if only the right side has an obstacle after rotating a certain angle, then the obstacle avoidance is performed according to the logic of detecting the obstacle on the right side of the picking device. It should be noted that, both the initial rotation angle and the tolerance can be adjusted according to actual requirements, and the present invention is not limited thereto.
In a specific implementation, the four corners of the picking device are respectively provided with an infrared sensor a, and the center of the head of the picking device is provided with an ultrasonic sensor b (see fig. 3). When the left front infrared sensor, the right front infrared sensor and the middle ultrasonic sensor sense obstacles, the obstacles are present right in front of the picking device. When the front left infrared sensor senses the obstacle, the obstacle exists in the front left oblique direction of the picking device. When the right front infrared sensor senses the obstacle, the obstacle exists in the right oblique front of the picking device. When the front left infrared sensor and the rear left infrared sensor sense the obstacle, the obstacle exists on the left side of the picking device. When the right front infrared sensor and the right rear infrared sensor sense obstacles, the fact that the obstacle exists at the right side of the picking device is indicated. When the left front infrared sensor, the left rear infrared sensor, the right front infrared sensor, the right rear infrared sensor and the middle ultrasonic sensor sense obstacles, the obstacles are shown to exist in the left oblique front, the right front and the right oblique front of the picking device.
In this embodiment, it is detected whether the picking device is fully loaded, and if the picking device is fully loaded, a return trip operation is performed.
In particular, the gravity sensor can be arranged on the picking device and used for detecting the bearing weight of the picking device, and when the bearing weight is larger than the set weight, the full load of the picking device is indicated.
More specifically, the picking device can record the position coordinates of the designated unloading point through the GPS positioning module and guide the picking device to the designated unloading point.
It should be noted that, in the process of returning the picking device to the designated unloading point, the obstacle detection and obstacle avoidance are also performed.
Fig. 4 is a schematic structural diagram of a control system, which is suitable for the control method shown in fig. 2, and as shown in fig. 4, the control system includes a data center processor 100, and an identification module 200, a light supplement module 300, a GPS positioning module 400, a display module 500, a power supply module 600, a motion control module 700, and an obstacle avoidance module 800, which are connected to the data center processor 100.
In this embodiment, the recognition module is configured to collect a scene image and determine whether a picked-up object exists in the scene image.
Specifically, the identification module comprises a camera and an image processing module, wherein the camera is used for shooting a color photo right in front of the picking device, and the image processing module is used for converting the color photo into a scene image and judging whether a picking object exists in the scene image according to the scene image.
Preferably, the identification module may be an OPENMV3 camera module.
In this embodiment, the light supplement module is configured to detect whether the ambient brightness around the picking device is less than a set brightness, and execute a light supplement operation if the ambient brightness around the picking device is less than the set brightness.
Specifically, the light filling module comprises a photosensitive sensor and an LED lamp, wherein the photosensitive sensor is used for detecting the ambient brightness around the collecting and sorting device, and the LED lamp is used for filling light.
In this embodiment, the obstacle avoidance module is configured to detect whether an obstacle exists around the picking device in real time, and if an obstacle exists around the picking device, perform an obstacle avoidance operation.
Specifically, keep away the barrier module and include infrared sensor 1, infrared sensor 2, infrared sensor 3, infrared sensor 4 and ultrasonic sensor, wherein outer sensor 1, infrared sensor 2, infrared sensor 3, infrared sensor 4 are installed respectively and are being received the upper left corner, the upper right corner, the lower left corner and the lower right corner of choosing the device, and ultrasonic sensor installs and receives the device in the dead ahead.
In this embodiment, the motion control module is used to control the movement of the picking device. The picking device movement includes, but is not limited to, picking device travel and rotation.
Specifically, the motion control module comprises a driving module, a motor 1, a motor 2, a motor 3 and a motor 4, wherein the driving module is used for controlling the motor 1, the motor 2, the motor 3 and the motor 4 to work, and the motor 1, the motor 2, the motor 3 and the motor 4 respectively correspond to one wheel of the driving picking device, so that the picking device can move forward and rotate by controlling the starting and stopping of the motors.
In this embodiment, the GPS module is configured to record the position coordinates of the designated unloading point and navigate the picking device to the designated unloading point.
In this embodiment, the power module is used to provide power for the picking device, and the power module may include a storage battery or a lithium battery.
In this embodiment, the display module is used for displaying the working information of the picking device, such as the remaining power, the loading degree, and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A method of controlling a picking device, the method comprising:
collecting a scene image;
judging whether a picked object exists in the scene image, if the picked object exists in the scene image, driving the picking device to move towards the picked object so as to pick the picked object, if the picked object does not exist in the scene image, driving the picking device to rotate 90 degrees clockwise and collecting the scene image, and driving the picking device to move forward for a set distance and collecting the scene image again after the picking device rotates 90 degrees clockwise for four times continuously, wherein the set distance is not more than the distance which can be shot by a camera module towards the front of the picking device, and the picked object is a golf ball;
detecting whether obstacles exist around the picking device in real time when the picking device moves, and if so, carrying out obstacle avoidance operation;
the obstacle avoidance operation comprises:
if the picking device only has an obstacle on the left side, driving the picking device to rotate clockwise for multiple times, wherein the first clockwise rotation angle is 10 degrees, the angle equal difference of each rotation is reduced by 2 degrees, and detecting whether the obstacle exists around the picking device after each rotation until the obstacle cannot be detected on the left side of the picking device;
if the picking device only has an obstacle on the right side, the picking device is driven to rotate anticlockwise for multiple times, the first anticlockwise rotation angle is 10 degrees, the equal difference of the rotation angle of each time is reduced by 2 degrees, and whether the obstacle exists around the picking device or not is detected after each rotation until the obstacle cannot be detected on the right side of the picking device.
2. The control method of claim 1, wherein said collecting a scene image comprises:
taking a color picture of the front of the picking device;
carrying out binarization processing on the color photo according to the color of the picked object to obtain a black-white photo, so that a white area in the black-white photo is an area where the picked object is located;
and carrying out morphological processing on the black-and-white picture to obtain the scene image.
3. The control method according to claim 2, wherein before said taking a color picture directly in front of said picking device, comprising:
detecting whether the ambient brightness around the picking device is smaller than the set brightness, and if the ambient brightness around the picking device is smaller than the set brightness, executing light supplementing operation.
4. The control method of claim 2, wherein the determining whether a cull is present in the scene image comprises:
detecting whether a shape identical to the outer contour of a picked object exists in the scene image or not through Hough transformation, wherein the picked object exists in the scene image if the shape identical to the outer contour of the picked object exists in the scene image, and the picked object does not exist in the scene image if the shape identical to the outer contour of the picked object does not exist in the scene image.
5. The control method according to claim 1, characterized by comprising:
detecting whether an obstacle exists only in the front of the picking device, and driving the picking device to rotate 90 degrees clockwise if the obstacle exists only in the front of the picking device.
6. The control method according to claim 1, characterized by comprising:
detecting whether an obstacle exists only in the left oblique front of the picking device or not, if so, driving the picking device to rotate clockwise for multiple times, and gradually reducing the angle of each rotation until the obstacle cannot be detected in the left oblique front of the picking device;
detecting whether the picking device only has an obstacle in the right oblique front or not, if so, driving the picking device to rotate anticlockwise for multiple times, and gradually reducing the angle of each rotation until the obstacle cannot be detected in the right oblique front of the picking device.
7. The control method according to claim 1, characterized by comprising:
detecting whether at least two directions of a left oblique front, a right front and a right oblique front of the picking device have obstacles, if the at least two directions of the left oblique front, the right front and the right oblique front of the picking device have obstacles, driving the picking device to rotate clockwise for a plurality of times, and gradually reducing the angle of each rotation until the at least two directions of the left oblique front, the right front and the right oblique front of the picking device have no obstacles.
8. The control method according to claim 1, characterized by comprising:
and detecting whether the picking device is fully loaded or not, and executing return operation if the picking device is fully loaded.
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