CN111880575B - Control method and device based on color tracking, storage medium and robot - Google Patents
Control method and device based on color tracking, storage medium and robot Download PDFInfo
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Abstract
The invention relates to the technical field of automatic control, and discloses a control method, a control device, a storage medium and a robot based on color tracking, wherein the method comprises the following steps: s1: acquiring an image acquired by an image sensor, and identifying a target color block in the image according to a preset color threshold and a color block pixel threshold, wherein the color threshold is a Lab color space value; s2: acquiring the center coordinates of the target color block in a coordinate system defined by an image sensor; s3: the method comprises the steps of calculating the offset between the central coordinate of a target color block and the central coordinate of an image in real time, monitoring the change speed and direction of the distance between an image sensor and the target color block and the change size and direction of the offset in real time, and sending a corresponding tracking instruction to a robot according to the change speed and direction of the distance and the change size and direction of the offset.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a control method and device based on color tracking, a storage medium and a robot.
Background
Nowadays, scientific technology is changing day by day, people have higher and higher requirements on intelligence and autonomy of machine equipment, and people hope to completely replace human roles, so that people are relieved from heavy and dangerous work tasks, and whether people can have the ability of sensing surrounding environment like people becomes the key for realizing intelligent autonomy of equipment. This ability to sense the surrounding environment is known as an automatic identification tracking technique, such as: automatic discernment such as lane line, roadside sign and traffic lights in the driver assistance, if again: face recognition and tracking in intelligent monitoring or shooting photography.
Among them, color is one of the most basic reference factors, such as: the human face identification needs to identify the skin colors of different races, and then combines the face contour to accurately identify and track, and the color identification and tracking are also one of the difficulties of the automatic identification and tracking technology.
Disclosure of Invention
The invention provides a control method based on color tracking, which solves the problems of inaccurate color identification and target loss in the tracking process in the prior art.
The invention discloses a control method based on color tracking, which comprises the following steps:
s1: acquiring an image acquired by an image sensor, and identifying a target color block in the image according to a preset color threshold and a color block pixel threshold, wherein the color threshold is a Lab color space value;
s2: acquiring the center coordinates of the target color block in a coordinate system defined by an image sensor;
s3: and calculating the offset of the central coordinate of the target color block and the central coordinate of the image in real time, monitoring the distance change speed and direction between the image sensor and the target color block and the offset change size and direction in real time, and sending a corresponding tracking instruction to the robot according to the distance change speed and direction and the offset change size and direction, so that the offset absolute value of the central coordinate of the target color block and the central coordinate of the image is within an error allowable range, and the distance between the image sensor and the target color block is within a preset range.
In the step S3, a new pixel threshold value is calculated in real time according to the real-time distance change in proportion, and the new pixel threshold value is sent to the robot in real time.
In the step S3, the robot calculates the pixel size of the target color block in the image in real time during the tracking process, and sends an instruction to stop tracking to the robot if the pixel size is larger than a predetermined pixel size, otherwise, keeps the tracking state or sends a tracking instruction to the robot.
In step S3, if the target color block is lost, a search instruction is sent to the robot, so that the robot performs a rotational search in situ.
In step S1, the white balance setting is closed after the image acquired by the image sensor is acquired.
The invention also provides a control device based on color tracking, comprising means for performing the method of any one of the above.
The invention also provides a computer readable storage medium having stored thereon a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of the above.
The present invention also provides a robot comprising: the system comprises a motion system, a processor, a communication interface and a memory, wherein the processor, the communication interface and the memory are connected with each other, the communication interface is controlled by the processor and is used for sending control instructions to the motion system or receiving state information fed back by the motion system, the memory is used for storing a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions and execute the method.
In the control method based on color tracking, the color threshold is set based on a Lab color space, the Lab is a color system irrelevant to equipment and is also a color system based on physiological characteristics, the digital method is used for describing human visual induction, the factors of chromatic aberration influenced by the equipment are small, and the limitation of a color block pixel threshold is combined, so that a specified target color block can be accurately identified, the central coordinate of the target color block is directly acquired after identification, the target color block is locked, and the target is prevented from being lost due to the interference of similar color blocks in the tracking process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a control method based on color tracking according to the present invention;
FIG. 2 is a schematic diagram of a control device based on color tracking according to the present invention;
fig. 3 is a schematic diagram of a robot control structure according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The control method based on color tracking of the present embodiment is shown in fig. 1, and includes:
step S101: the method comprises the steps of obtaining an image collected by an image sensor, and identifying a target color block in the image according to a preset color threshold value and a color block pixel threshold value, wherein the color threshold value is a Lab color space value. Specifically, an image is collected by an image sensor in a camera on the robot, a color threshold value is composed of the maximum value and the minimum value of Lab color space L, a and b, and a color block pixel threshold value is set according to the pixel size of a target color block to be identified. The value of each of L, a and b of a color block is between the corresponding maximum and minimum values, and the pixel size is within the range of the pixel threshold, then the color block is the target color block.
Step S102: the coordinates of the center of the target color block are obtained in the coordinate system defined by the image sensor, and in order to always lock the target color block in the subsequent tracking process, the coordinates of the target color block in the coordinate system defined by the image sensor need to be obtained after the target color block is identified.
Step S103: calculating the offset of the central coordinate of the target color block and the central coordinate of the image in real time, monitoring the distance change speed and direction between the image sensor and the target color block and the offset change size and direction in real time, and sending a corresponding tracking instruction to the robot according to the distance change speed and direction and the offset change size and direction, so that the offset absolute value of the central coordinate of the target color block and the central coordinate of the image is within an error allowable range, the distance between the image sensor and the target color block is within a predetermined range, and the predetermined range of the distance can be [ S-20cm, S +20cm ] S is the initial distance when the target color block is identified. Specifically, the method comprises the steps of judging whether the robot needs to move forward or backward in real time according to the distance change direction (namely, the direction of the optical axis of the camera is far away from or close to), calculating the real-time movement speed of the robot according to the real-time distance change speed, and sending a forward or backward command with the movement speed to the robot through a front control channel and a back control channel; the left and right steering angles of the robot are judged according to the size and the direction of the deviation change (the direction perpendicular to the optical axis of the camera), the angle can be calculated according to the distance between the color block and the image sensor and the deviation amount because the center of the image sensor is on the optical axis of the camera, so that the steering angle of the robot is obtained (the absolute value of the deviation between the center coordinate of the target color block and the center coordinate of the image is in an error allowable range), and the movement speed of the robot is obtained according to the distance change speed (the preset distance range between the image sensor and the target color block is kept) so as to realize color block tracking.
In the control method based on color tracking of the embodiment, the color threshold is set based on a Lab color space, the Lab is a color system irrelevant to equipment and is also a color system based on physiological characteristics, human visual sense is described by a digital method, the factor of color difference influenced by the equipment is small, and the color block is limited by a color block pixel threshold, so that a specified target color block can be accurately identified, and the center coordinate of the target color block is directly acquired after identification, so that the target color block is locked, and the target is prevented from being lost due to the interference of similar color blocks in the tracking process.
In step S103, a new pixel threshold is proportionally calculated in real time according to the real-time distance change, and the new pixel threshold is sent to the robot in real time. When the target color block is far away from the robot in the tracking process, the target color block may be shielded by other objects, at this time, if the center coordinate of the color block is still locked, the robot cannot find the target color block, and the target color block is also far away from the robot, so that the size of the pixel of the target color block in the image is reduced and is not within the range of the pixel threshold, therefore, a new pixel threshold needs to be calculated proportionally according to the real-time distance change, and the color block is ensured not to be lost under the condition that the color block is shielded.
In step S103, the robot calculates the pixel size of the target color block in the image in real time during the tracking process, and sends an instruction to stop tracking to the robot if the pixel size is larger than a predetermined pixel size, otherwise, keeps the tracking state or sends a tracking instruction to the robot. The pixel size of the target color patch being larger than the predetermined pixel size indicates that the target color patch is close to the robot, for example: when the robot is blocked when backing, or the target color block is close to the image sensor due to other reasons, most of the image is occupied, namely the pixel size is large, and the tracking is not needed at the moment, and the tracking can be stopped.
In step S103, if the target color block is lost, a search command is sent to the robot to make the robot rotate to search in place, and the search is stopped after a period of time, so as to send a tracking failure message to its upper device.
In step S101, the white balance setting is closed after the image acquired by the image sensor is acquired, and the color recognition is more accurate after the white balance is closed.
The invention also provides a control device based on color tracking, which comprises a unit for executing the method described in any one of the above, and as shown in fig. 2 in particular, the control device comprises:
the color patch identification module 201: the device is used for acquiring an image acquired by the image sensor and identifying a target color block in the image according to a preset color threshold value and a color block pixel threshold value, wherein the color threshold value is a Lab color space value. Specifically, an image is collected by an image sensor in a camera on the robot, a color threshold value is composed of the maximum value and the minimum value of Lab color space L, a and b, and a color block pixel threshold value is set according to the pixel size of a target color block to be identified. The value of each of L, a and b of a color block is between the corresponding maximum and minimum values, and the pixel size is within the range of the pixel threshold, then the color block is the target color block.
The color patch positioning module 202 is configured to acquire a center coordinate of a target color patch in a coordinate system defined by the image sensor, and in order to always lock the target color patch in a subsequent tracking process, it is necessary to acquire a coordinate of the target color patch in the coordinate system defined by the image sensor after the target color patch is identified.
The patch tracking module 203 is configured to calculate a shift between a center coordinate of a target patch and a center coordinate of an image in real time, monitor a change speed and a change direction of a distance between an image sensor and the target patch in real time, and monitor a change size and a change direction of the shift, and send a corresponding tracking command to the robot according to the change speed and the change direction of the distance, so that an absolute value of the shift between the center coordinate of the target patch and the center coordinate of the image is within an error-allowable range, and the distance between the image sensor and the target patch is within a predetermined range, where the predetermined range of the distance may be [ S-20cm, S +20cm ], and S is an initial distance when the target patch is identified. Specifically, the method comprises the steps of judging whether the robot needs to move forward or backward in real time according to the distance change direction (namely, the direction of the optical axis of the camera is far away from or close to), calculating the real-time movement speed of the robot according to the real-time distance change speed, and sending a forward or backward command with the movement speed to the robot through a front control channel and a back control channel; the left and right steering angles of the robot are judged according to the size and the direction of the deviation change (the direction perpendicular to the optical axis of the camera), the angle can be calculated according to the distance between the color block and the image sensor and the deviation amount because the center of the image sensor is on the optical axis of the camera, so that the steering angle of the robot is obtained (the absolute value of the deviation between the center coordinate of the target color block and the center coordinate of the image is in an error allowable range), and the movement speed of the robot is obtained according to the distance change speed (the image sensor and the target color block keep a preset distance range) so as to realize color block tracking.
The invention also provides a computer readable storage medium having stored thereon a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of the above.
As shown in fig. 3, the present invention also provides a robot comprising: the motion system 301, the processor 302, the communication interface 303 and the memory 304 being connected to each other, in particular, via a data bus 305. The processor 302 is preferably a single chip microcomputer, and the communication interface 303 is controlled by the processor 302 to send a control instruction to the motion system 301 or receive state information fed back by the motion system. The memory 304 is used to store a computer program comprising program instructions, which the processor 302 is configured to call for performing any of the methods described above.
The motion system 301 may be a motion system of any robot, for example: the motor and the control circuit board of the steering engine are connected with the processor 302 through a communication interface 303, and of course, the processor 302, the communication interface 303 and the memory 304 may be integrated on the control circuit board of the motion system, or may be separate circuit boards.
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 control method based on color tracking, comprising the steps of:
s1: acquiring an image acquired by an image sensor, and identifying a target color block in the image according to a preset color threshold value and a color block pixel threshold value, wherein the color threshold value is a Lab color space value;
s2: acquiring the center coordinates of the target color block in a coordinate system defined by the image sensor;
s3: calculating the deviation of the center coordinate of a target color block and the center coordinate of an image in real time, monitoring the change speed and direction of the distance between an image sensor and the target color block in real time, and the change size and direction of the deviation, sending a corresponding tracking instruction to a robot according to the change speed and direction of the distance, so that the absolute value of the deviation between the center coordinate of the target color block and the center coordinate of the image is within an error allowable range, the distance between the image sensor and the target color block is within a preset range, judging whether the robot needs to advance or retreat according to the change direction of the distance, the change direction of the distance is far away from or close to the optical axis direction of a camera in real time, calculating the real-time movement speed of the robot according to the change speed of the real time distance, sending the forward or retreat instruction with the movement speed to the robot through a front and back control channel, calculating the angle according to the distance between the color block and the image sensor and the deviation amount, obtaining the steering angle of the robot, and obtaining the movement speed of the robot according to the change speed of the color block, so as to realize color block tracking.
2. The color tracking based control method according to claim 1, wherein in step S3, a new pixel threshold is proportionally calculated in real time according to the real-time distance change, and the new pixel threshold is transmitted to the robot in real time.
3. The color-tracking-based control method according to claim 1, wherein in the step S3, the robot calculates the pixel size of the target color block in the image in real time during the tracking process, and sends an instruction to stop tracking to the robot if the pixel size is larger than a predetermined pixel size, otherwise, the robot keeps the tracking state or sends a tracking instruction to the robot.
4. The color-tracking-based control method according to claim 1, wherein in step S3, if the target color block is lost, a search command is sent to the robot to make the robot perform a rotational search in situ.
5. The color-tracking-based control method according to claim 1, wherein in step S1, the white balance setting is turned off after the image captured by the image sensor is acquired.
6. A control device based on color tracking, characterized by comprising means for performing the method according to any one of claims 1 to 5.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to carry out the method according to any one of claims 1 to 5.
8. A robot, comprising: the system comprises a motion system, a processor, a communication interface and a memory, wherein the processor, the communication interface and the memory are connected with each other, the communication interface is controlled by the processor and is used for sending control instructions to the motion system or receiving state information fed back by the motion system, the memory is used for storing a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions and execute the method according to any one of claims 1-5.
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