CN110738689B - Method, system and device for automatically following and avoiding targets by trolley - Google Patents
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/254—Analysis of motion involving subtraction of images
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention discloses a method for automatically following and avoiding targets by a trolley, which comprises the following steps: constructing a coordinate system based on a trolley, and setting system parameters; a camera arranged on the trolley acquires a front view image of the trolley in real time and converts the image into a gray image; filtering and opening and closing operation is carried out on the gray level image, then edge extraction is carried out on an operation result, the edge of the whole image is obtained, and targets needing to be followed and avoided are identified and separated through an inter-frame difference algorithm, so that an edge region of the targets is obtained; calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley according to the edge area and by utilizing a centroid positioning method, and calculating the motion trail and the optimal position of the trolley by combining system parameters; and converting the motion track into a motion control instruction of the trolley, controlling the trolley to move to an optimal position, and outputting and displaying the result in real time. The invention can reduce the variety and the number of the sensors and is suitable for more application scenes.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to a technology for automatically following and avoiding targets by a trolley.
Background
The ability of objects to automatically follow targets or avoid obstacles during movement has become an indispensable technical requirement in the field of factory automation. However, current implementation techniques rely mainly on, for example, ultrasound, laser sensors or radar, while implementation in some special motion environments requires a greater number of sensors to be configured, which results in a more complex design and increased cost. With the development of computer vision and digital image technology, vision capturing and analysis technology is adopted, so that the variety and number of sensors can be reduced on one hand, and more application scenes can be adapted on the other hand.
Disclosure of Invention
The invention aims to solve the technical problem of providing a device and a method for automatically following and avoiding targets by a trolley aiming at the defects in the prior art.
The technical scheme adopted for solving the technical problems is as follows:
the method for automatically following and avoiding the target by the trolley comprises the following steps:
step1, constructing a coordinate system based on a trolley, and determining an effective working rectangular area of a camera and an external rectangular area of the trolley;
step2, a camera arranged on the trolley acquires a front-view image in RGB565 format of the trolley in real time, converts the image into image data in YCbCr422 format, extracts a Y component, and obtains a gray image;
step3, carrying out median filtering or mean filtering on the gray level image, carrying out opening and closing operation, then carrying out edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating out targets needing to be followed and avoided through an inter-frame difference algorithm to obtain an edge region of the targets;
step4, obtaining a circumscribed rectangular area of the target according to the edge area and by using a centroid positioning method, calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley, and calculating the motion track and the optimal position of the trolley according to the following and avoidance requirements by using the relative position;
step5, converting the motion trail of the trolley into a motion control instruction of the trolley, controlling the trolley to move to an optimal position, and outputting and displaying the result in real time;
step6, repeating Step 2-Step 5, and ensuring that the trolley automatically follows and avoids the target at an optimal position.
There is provided a system for automatically following and evading a target by a cart, comprising:
the system parameter setting module is used for constructing a coordinate system based on the trolley and determining an effective working rectangular area of the camera and an external rectangular area of the trolley;
the image preprocessing module is used for acquiring RGB565 format forward-looking images of the trolley in real time through a camera arranged on the trolley, converting the forward-looking images into YCbCr422 format image data, extracting Y components and obtaining gray images;
the target detection and extraction module is used for carrying out median filtering or mean filtering on the gray level image, carrying out opening and closing operation, then carrying out edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating the target needing to be followed and avoided by an inter-frame difference algorithm to obtain the edge region of the target;
the position calculation module is used for calculating the circumscribed rectangular area of the target according to the edge area and by utilizing a centroid positioning method, calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley, and calculating the motion track and the optimal position of the trolley according to the following and avoidance requirements by utilizing the relative position;
and the motion control module is used for converting the motion trail of the trolley into a motion control instruction of the trolley, controlling the trolley to move to an optimal position, and outputting and displaying the result in real time.
The device comprises a trolley, an operation control unit, a camera and a display unit, wherein the operation control unit and the camera are arranged on the trolley, the display unit is arranged at a far end, and the operation control unit is respectively connected with the trolley, the camera and the display unit;
the trolley moves according to the control instruction;
the camera is used for acquiring a front view image of the trolley;
the operation control unit is used for realizing the method for automatically following and avoiding the targets of the trolley in the technical scheme, processing the images acquired by the camera, identifying the targets which are automatically followed and need to be avoided, calculating the motion trail and controlling the movement of the trolley;
and the display unit is used for displaying the image acquired by the camera and the image processing result in real time.
By adopting the technical scheme, the trolley is a wheeled trolley driven by a motor.
With the above technical scheme, the camera is a 200 ten thousand pixel camera based on COMS, and the image data format is RGB565.
With the above technical solution, the microcontroller of the operation control unit is FPGA, ARM, DSP or a combination thereof.
The invention has the beneficial effects that: according to the method, the system and the device for automatically following and avoiding the target of the trolley, provided by the invention, the forward-looking image of the trolley is obtained in real time by arranging the camera on the trolley, the following and avoidance target of the trolley is identified by utilizing the operation control unit through the image processing algorithm, the motion track and the optimal position of the trolley are calculated through the relative position of the target and the trolley, and the trolley is controlled to move to the optimal position, so that the aim of automatically following and avoiding the target is fulfilled. The invention utilizes the image processing technology to identify the target object, can reduce the variety and the number of the sensors, and is suitable for more application scenes.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic view of a device structure according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of automatically following and evading a target in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of one implementation of a method of an embodiment of the present invention;
fig. 4 is a schematic diagram of the automatic following principle of an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the invention provides a method for automatically following and avoiding targets by a trolley, which comprises the following steps:
s1, constructing a coordinate system based on a trolley, and determining an effective working rectangular area of a camera and an external rectangular area of the trolley;
s2, a camera arranged on the trolley acquires a front-view image in RGB565 format of the trolley in real time, converts the image into image data in YCbCr422 format, extracts Y components, and obtains a gray image;
s3, carrying out median filtering or mean filtering on the gray level image, carrying out opening and closing operation, then carrying out edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating out targets needing to be followed and avoided through an inter-frame difference algorithm to obtain an edge region of the targets;
s4, calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley according to the edge area and by using a centroid positioning method, and calculating the motion track and the optimal position of the trolley according to the following and avoidance requirements by using the relative position;
s5, converting the motion trail of the trolley into a motion control instruction of the trolley, controlling the trolley to move to an optimal position, and outputting and displaying the result in real time;
s6, repeating Step 2-Step 5 to ensure that the trolley automatically follows and avoids the target at the optimal position.
There is provided a system for automatically following and evading a target by a cart, comprising:
the system parameter setting module is used for constructing a coordinate system based on the trolley and determining an effective working rectangular area of the camera and an external rectangular area of the trolley;
the image preprocessing module is used for acquiring RGB565 format forward-looking images of the trolley in real time through a camera arranged on the trolley, converting the forward-looking images into YCbCr422 format image data, extracting Y components and obtaining gray images;
the target detection and extraction module is used for carrying out median filtering or mean filtering on the gray level image, carrying out opening and closing operation, then carrying out edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating the target needing to be followed and avoided by an inter-frame difference algorithm to obtain the edge region of the target;
the position calculation module is used for calculating the circumscribed rectangular area of the target according to the edge area and by utilizing a centroid positioning method, calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley, and calculating the motion track and the optimal position of the trolley according to the following and avoidance requirements by utilizing the relative position;
and the motion control module is used for converting the motion trail of the trolley into a motion control instruction of the trolley, controlling the trolley to move to an optimal position, and outputting and displaying the result in real time.
As shown in fig. 2, a device for automatically following and avoiding targets by a trolley is provided, which comprises a trolley 1, an operation control unit 2, a camera 3 and a display unit 4, wherein the operation control unit 2 and the camera 3 are arranged on the trolley 1, the display unit 4 is arranged at a far end, and the operation control unit 2 is respectively connected with the trolley 1, the camera 3 and the display unit 4.
The trolley 1 moves according to a movement control instruction provided by the arithmetic control unit 2.
And the camera 3 acquires a forward-looking image of the trolley 1 in real time and acquires forward-looking information of the trolley 1.
The operation control unit 2 is used for realizing the method for automatically following and avoiding the targets by the trolley in the method embodiment, processing the images acquired by the camera 3, identifying the targets which need to be avoided and automatically following, calculating the motion trail and controlling the trolley 1 to move.
The display unit 4 displays the image acquired by the camera 3 and the image processing result in real time.
Further, the trolley 1 is a motor-driven wheeled trolley.
Further, camera 3 may be a 200 ten thousand pixel COMS based camera with image data format RGB565.
Further, the microcontroller of the arithmetic control unit 2 is FPGA, ARM, DSP or a combination thereof.
In a preferred embodiment of the device for automatically following and avoiding targets by the trolley, the trolley 1 adopts a cuboid trolley with wheels and a motor, the operation control unit 2 is an FPGA-based development board, the camera is a COMS-based OV7725 camera arranged on the FPGA development board, the display unit 4 is a common display, and the display unit is connected to the FPGA development board in a wired or wireless mode.
As shown in fig. 3, the specific flow of the method for automatically following and avoiding the target by the trolley is as follows:
the image data collected by the camera is RGB565 format image data, firstly, the image data format conversion is carried out, the RGB565 image data format is converted into YCbCr422 image data format, and the Y component is extracted, so that the gray level image of image processing is obtained. Then, median filtering or mean filtering processing is carried out on the gray level, and further expansion corrosion-based opening and closing operation is carried out on the image.
And (3) carrying out edge extraction algorithm processing on the image, for example, utilizing a sobel operator and the like, obtaining the edge of the whole image, and then identifying and separating out a target to be tracked or an obstacle to be avoided through an inter-frame difference algorithm to obtain the edge region of the target.
The external rectangular area of the target is obtained through a centroid positioning method, and then a following algorithm or an obstacle avoidance algorithm is provided, so that the purpose of controlling the movement of the trolley is achieved.
As shown in fig. 4, the following algorithm is illustrated by simulating the automatic following process of the dolly. The initial trolley is positioned at the point A, and the black large rectangle 5 is the field of view of the current trolley, namely the maximum rectangle range which can be captured by the camera under the current position of the trolley. Suppose that the target to be followed is located at point D of the area of the black large rectangle 5. Connecting AO, CO and AC can obtain a triangle, wherein the line segment AO is the horizontal distance dx of the trolley from the target, the line segment CO is the vertical distance dy of the trolley from the target, and the line segment AC is the actual linear distance of the trolley from the target. Then according to the determined trolley and the following target with the circumscribed rectangular area, in order to avoid the trolley colliding with the target during the following process, the optimal following position is artificially given, so as to determine the horizontal distance c1 and the vertical distance c2 of the trolley from the target at the optimal position, and obtain the relative position, namely=｜dx-c1｜，/>y= |dy-c 2|. When->And->The larger the value of y is, the farther the trolley is from the optimal tracking area; when->And->The smaller the value of y is, the closer the trolley is to the optimal tracking area; when->And->y takes 0 to indicate that the trolley just reaches the best following area. The preliminary position calculated by the trolley at the point A is the point B, the relative position is calculated again when the trolley moves at the point B, and if the obtained new +.>And->And (3) when the value of y reaches the preset optimal value, finishing adjustment. Otherwise, the optimal position C is continuously calculated, repeated judgment is carried out until the motion reaches the set optimal position standard.
The obstacle avoidance process principle is similar to the following process, only needsAnd->The larger and better the value of y is, the description trolleyAnd the distance from the optimal following area is increased, namely the obstacle avoidance of the trolley to the target is realized.
Compared with the traditional following target or obstacle avoidance algorithm, the algorithm avoids a large number of matrix operations and multiplication and division operations, and in terms of realization in principle, the algorithm is simpler and more convenient to realize in terms of hardware due to the large number of addition and subtraction operations, so that the real-time performance of the algorithm is greatly improved; on the other hand, the algorithm focuses on the accurate position of the target object to calculate the distance between the camera and the camera in the horizontal direction and the vertical direction, so that the accuracy requirement of the algorithm is greatly improved, and the algorithm has high standards in terms of instantaneity and accuracy.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (6)
1. A method for automatically following and avoiding a target by a trolley, which is characterized by comprising the following steps:
step1, constructing a coordinate system based on a trolley, and determining an effective working rectangular area of a camera and an external rectangular area of the trolley;
step2, a camera arranged on the trolley acquires a front-view image in RGB565 format of the trolley in real time, converts the image into image data in YCbCr422 format, extracts a Y component, and obtains a gray image;
step3, carrying out median filtering or mean filtering on the gray level image, carrying out opening and closing operation, then carrying out edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating out targets needing to be followed and avoided through an inter-frame difference algorithm to obtain an edge region of the targets;
step4, calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley according to the edge area and by using a centroid positioning method, and calculating the motion track and the optimal position of the trolley according to the following and avoidance requirements by using the relative position;
step5, converting the motion trail of the trolley into a small trolleyThe motion control instruction of the trolley controls the trolley to move to the optimal position, and outputs and displays the result in real time; determining the horizontal distance c1 and the vertical distance c2 of the trolley at the optimal position from the target according to the given optimal following position to obtain the relative position=｜dx-c1｜，/>y= |dy-c 2| where the horizontal distance of the trolley from the target is dx and the vertical distance of the trolley from the target is dy, when |f>And->The larger the value of y is, the farther the trolley is from the optimal tracking area; when->And->The smaller the value of y is, the closer the trolley is to the optimal tracking area; when->And->y is taken to be 0, which indicates that the trolley just reaches the optimal following area; the preliminary position calculated by the trolley at the point A is the point B, the relative position is calculated again when the trolley moves at the point B, and if the obtained new +.>And->y, reaches the preset optimal value, thenFinishing adjustment; otherwise, continuously calculating the optimal position C, and repeatedly judging until the motion reaches the set optimal position standard;
step6, repeating Step 2-Step 5, and ensuring that the trolley automatically follows and avoids the target at an optimal position.
2. A system for automatically following and evading a target by a cart, comprising:
the system parameter setting module is used for constructing a coordinate system based on the trolley and determining an effective working rectangular area of the camera and an external rectangular area of the trolley;
the image preprocessing module is used for acquiring RGB565 format forward-looking images of the trolley in real time through a camera arranged on the trolley, converting the forward-looking images into YCbCr422 format image data, extracting Y components and obtaining gray images;
the target detection and extraction module is used for carrying out median filtering or mean filtering on the gray level image, carrying out opening and closing operation, then carrying out edge extraction on an operation result to obtain the edge of the whole image, and identifying and separating the target needing to be followed and avoided by an inter-frame difference algorithm to obtain the edge region of the target;
the position calculation module is used for calculating the relative position between the circumscribed rectangular area of the target and the circumscribed rectangular area of the trolley according to the edge area and by utilizing a centroid positioning method, and calculating the motion track and the optimal position of the trolley according to the following and avoidance requirements; determining the horizontal distance c1 and the vertical distance c2 of the trolley at the optimal position from the target according to the given optimal following position to obtain the relative position=｜dx-c1｜，/>y= |dy-c 2| where the horizontal distance of the trolley from the target is dx and the vertical distance of the trolley from the target is dy, when |f>And->The larger the value of y is, the farther the trolley is from the optimal tracking area; when->And->The smaller the value of y is, the closer the trolley is to the optimal tracking area; when->And->y is taken to be 0, which indicates that the trolley just reaches the optimal following area; the preliminary position calculated by the trolley at the point A is the point B, the relative position is calculated again when the trolley moves at the point B, and if the obtained new +.>And->The value of y reaches the preset optimal value, and the adjustment is finished; otherwise, continuously calculating the optimal position C, and repeatedly judging until the motion reaches the set optimal position standard;
and the motion control module is used for converting the motion trail of the trolley into a motion control instruction of the trolley, controlling the trolley to move to an optimal position, and outputting and displaying the result in real time.
3. The device for automatically following and avoiding the target by the trolley is characterized by comprising the trolley, an operation control unit, a camera and a display unit, wherein the operation control unit and the camera are arranged on the trolley, the display unit is arranged at a far end, and the operation control unit is respectively connected with the trolley, the camera and the display unit;
the trolley moves according to the control instruction;
the camera is used for acquiring a front view image of the trolley;
the operation control unit is used for realizing the method for automatically following and avoiding the targets of the trolley in the claim 1, processing the images acquired by the camera, identifying the targets which are automatically followed and need to be avoided, calculating the motion trail and controlling the movement of the trolley;
and the display unit is used for displaying the image acquired by the camera and the image processing result in real time.
4. A device according to claim 3, wherein the trolley is a motor-driven wheeled trolley.
5. The apparatus of claim 3 wherein the camera is a COMS-based 200-ten thousand pixel camera and the image data format is RGB565.
6. A device according to claim 3, wherein the microcontroller of the arithmetic control unit is FPGA, ARM, DSP or a combination thereof.
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| CN113848828B (en) * | 2021-09-08 | 2023-06-27 | 广州杰赛科技股份有限公司 | Automatic obstacle avoidance control method, device, equipment and medium for AGV trolley |
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