CN112164003A - Method for acquiring laser image by mobile robot, chip and robot - Google Patents
Method for acquiring laser image by mobile robot, chip and robot Download PDFInfo
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- CN112164003A CN112164003A CN202010954442.5A CN202010954442A CN112164003A CN 112164003 A CN112164003 A CN 112164003A CN 202010954442 A CN202010954442 A CN 202010954442A CN 112164003 A CN112164003 A CN 112164003A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000003287 optical effect Effects 0.000 claims abstract description 11
- 230000010354 integration Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 24
- 238000001914 filtration Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/77—Retouching; Inpainting; Scratch removal
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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Abstract
The invention discloses a method for acquiring a laser image by a mobile robot, a chip and the robot, wherein the method comprises the following steps: s1: the robot controls the opening and closing of the infrared laser in a frame-by-frame lighting mode; s2: the robot acquires an environment image with infrared laser information at a current frame through a camera provided with an optical filter, and then acquires an environment image without infrared laser information at a next frame; s3: the robot performs area integration on the environment image without infrared laser information; s4: the robot obtains a target image with infrared laser information after ambient light is thoroughly eliminated according to the ambient image with the infrared laser information and the processed ambient image without the infrared laser information. The method can eliminate the phenomena of smear, ghost image and the like in the image, thoroughly filter the influence of ambient light on the detection data of the robot, and improve the detection accuracy of the robot.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a method for a mobile robot to acquire a laser image, a chip and a robot.
Background
In the process of cleaning the ground, it is common that other light sources in the environment irradiate the visual field range of the camera, such as light, sunlight and the like. The ambient light may cause great interference to the extraction of the line laser information in the picture, which leads to misjudgment of the machine and reduces the cleaning efficiency. The published Chinese invention patents are as follows: although an image with the environment light filtered can be obtained by adopting an interframe difference method, a mobile robot collects environment information in a moving process, when the robot collects a second frame image, the position of the robot relative to the environment light changes, and if the environment image is obtained by adopting the method, the obtained environment image has phenomena of double images, smear and the like, so that the detection and judgment of the robot are greatly influenced.
Disclosure of Invention
In order to solve the problems, the invention provides a method for acquiring a laser image by a mobile robot, a chip and the robot, which can effectively solve the problem that environmental light interferes the robot to acquire environmental information and improve the cleaning efficiency of the robot. The specific technical scheme of the invention is as follows:
a method for acquiring a laser image by a mobile robot comprises the following steps: s1: the robot controls the opening and closing of the infrared laser in a frame-by-frame lighting mode; s2: the robot acquires an environment image with infrared laser information at a current frame through a camera provided with an optical filter, and then acquires an environment image without infrared laser information at a next frame; s3: the robot performs area integration on the environment image without infrared laser information; s4: the robot obtains a target image with infrared laser information after ambient light is thoroughly eliminated according to the ambient image with the infrared laser information and the processed ambient image without the infrared laser information. According to the method, the motion information in the image is filtered out in a region integration mode, and the phenomena of smear, ghost image and the like in the image are eliminated, so that the robot can acquire clear images for detection and judgment, and the accuracy of detection data is improved; the method can also filter the influence of ambient light on the detection data of the robot, and improve the detection accuracy of the robot.
In one or more aspects of the present invention, the infrared laser is a line-shaped infrared laser. The line laser can be used for acquiring images of more infrared information.
In one or more aspects of the invention, the optical filter is a band-pass filter matched with the emission wavelength of the infrared laser. The use is extensive, and the reliability is higher.
In one or more aspects of the present invention, the step S3 includes the following steps: the robot sets an area by taking a middle pixel of an environment image without infrared laser information as a center, sums the pixels in the area and then divides the summed pixels by a preset value, if a calculation result is larger than a preset threshold value, the middle pixel is 255, otherwise, the middle pixel is the calculation result. The influence of the position change of the robot on data acquisition is eliminated, and the detection accuracy of the robot is improved.
In one or more aspects of the present invention, the step S4 includes the following steps: and subtracting the processed environment image without the infrared laser information from the environment image with the infrared laser information by the robot, and setting the pixel points which are negative after calculation to zero to obtain a target image with the infrared laser information after completely eliminating the environment light. The target image is obtained by a method of combining two frames of data, so that the target image is clearer and the detection result of the robot is more accurate.
A method for detecting an obstacle by a mobile robot is characterized in that when the obstacle is detected, the method for acquiring a laser image by the mobile robot is adopted to acquire an information image of the obstacle. The mobile robot can acquire the obstacle information image after the ambient light is eliminated, and the obstacle detection capability of the robot is improved.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute the method for acquiring the laser image by the mobile robot. The light filtering method is used for reducing the influence of ambient light on the detection result of the robot by loading the light filtering method in different robots, and the applicability is strong.
A robot is equipped with a main control chip, and the main control chip is the chip. The robot filters the influence of the ambient light on the detection result of the robot in the detection process through the method, and the detection capability of the robot is improved.
Drawings
Fig. 1 is a flowchart of a method for acquiring a laser image by a mobile robot according to the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Referring to fig. 1, a method for acquiring a laser image by a mobile robot includes the following steps: s1: the robot controls the opening and closing of the infrared laser in a frame-by-frame lighting mode; s2: the robot acquires an environment image with infrared laser information at a current frame through a camera provided with an optical filter, and then acquires an environment image without infrared laser information at a next frame; s3: the robot performs area integration on the environment image without infrared laser information; s4: the robot obtains a target image with infrared laser information after ambient light is thoroughly eliminated according to the ambient image with the infrared laser information and the processed ambient image without the infrared laser information. According to the method, the motion information in the image is filtered out in a region integration mode, and the phenomena of smear, ghost image and the like in the image are eliminated, so that the robot can acquire clear images for detection and judgment, and the accuracy of detection data is improved; the optical filter can only filter out the ambient light with the wavelength different from the band-pass range of the optical filter, and the ambient light with the wavelength same as the band-pass range of the optical filter can still influence the detection of the robot through the optical filter.
As one example, the infrared laser is a linear infrared laser. The line laser can be used for acquiring images of more infrared information. The optical filter is a band-pass filter matched with the emission wavelength of the infrared laser. The use is extensive, and the reliability is higher.
As one embodiment, when ambient light is filtered, the robot automatically modulates the on/off of the line laser by a program of the robot on the basis of using a band-pass filter matched with the emission wavelength of the infrared laser, the camera opens the line laser for one frame, closes the line laser for one frame, and controls the on/off of the line laser at the moment of frame transmission ending, so that an ambient image with infrared laser information and an ambient image without infrared laser information when the line laser is opened and closed are obtained, and then the robot processes the ambient image without infrared laser information. The robot sets an area by taking a middle pixel of an environment image without infrared laser information as a center, sums the pixels in the area and then divides the summed pixels by a preset value, if a calculation result is larger than a preset threshold value, the middle pixel is 255, otherwise, the middle pixel is the calculation result. The influence of the position change of the robot on data acquisition is eliminated, and the detection accuracy of the robot is improved.
As one embodiment, the robot subtracts the processed environment image without the infrared laser information from the environment image with the infrared laser information, and sets the pixel points which are negative after calculation to zero, so as to obtain the target image with the infrared laser information after completely eliminating the environment light. The target image is obtained by a method of combining two frames of data, so that the target image is clearer and the detection result of the robot is more accurate.
A method for detecting an obstacle by a mobile robot is characterized in that when the obstacle is detected, the method for acquiring a laser image by the mobile robot is adopted to acquire an information image of the obstacle. The mobile robot can acquire the obstacle information image after the ambient light is eliminated, and the obstacle detection capability of the robot is improved.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute the method for acquiring the laser image by the mobile robot. The light filtering method is used for reducing the influence of ambient light on the detection result of the robot by loading the light filtering method in different robots, and the applicability is strong.
A robot is equipped with a main control chip, and the main control chip is the chip. The robot filters the influence of the ambient light on the detection result of the robot in the detection process through the method, and the detection capability of the robot is improved.
In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.
With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.
Claims (8)
1. A method for acquiring a laser image by a mobile robot is characterized by comprising the following steps:
s1: the robot controls the opening and closing of the infrared laser in a frame-by-frame lighting mode;
s2: the robot acquires an environment image with infrared laser information at a current frame through a camera provided with an optical filter, and then acquires an environment image without infrared laser information at a next frame;
s3: the robot performs area integration on the environment image without infrared laser information;
s4: the robot obtains a target image with infrared laser information after ambient light is thoroughly eliminated according to the ambient image with the infrared laser information and the processed ambient image without the infrared laser information.
2. The method for acquiring the laser image by the mobile robot as claimed in claim 1, wherein the infrared laser is a linear infrared laser.
3. The method for acquiring the laser image by the mobile robot according to claim 1, wherein the optical filter is a band-pass filter matched with the emission wavelength of the infrared laser.
4. The method for acquiring the laser image by the mobile robot according to claim 1, wherein the step S3 comprises the following steps: the robot sets an area by taking a middle pixel of an environment image without infrared laser information as a center, sums the pixels in the area and then divides the summed pixels by a preset value, if a calculation result is larger than a preset threshold value, the middle pixel is 255, otherwise, the middle pixel is the calculation result.
5. The method for acquiring the laser image by the mobile robot according to claim 1, wherein the step S4 comprises the following steps: and subtracting the processed environment image without the infrared laser information from the environment image with the infrared laser information by the robot, and setting the pixel points which are negative after calculation to zero to obtain a target image with the infrared laser information after completely eliminating the environment light.
6. A method for detecting an obstacle by a mobile robot, the method being characterized in that when detecting an obstacle, an information image of the obstacle is acquired by the method for acquiring a laser image by a mobile robot according to any one of claims 1 to 5.
7. A chip with a built-in control program, wherein the control program is used for controlling a robot to execute the method for acquiring the laser image by the mobile robot as claimed in any one of claims 1 to 5.
8. A robot equipped with a master control chip, characterized in that the master control chip is the chip of claim 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010954442.5A CN112164003A (en) | 2020-09-11 | 2020-09-11 | Method for acquiring laser image by mobile robot, chip and robot |
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| CN202010954442.5A CN112164003A (en) | 2020-09-11 | 2020-09-11 | Method for acquiring laser image by mobile robot, chip and robot |
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Cited By (3)
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| CN113460839A (en) * | 2021-07-23 | 2021-10-01 | 深圳市爱深盈通信息技术有限公司 | Elevator door control method and anti-pinch detection module |
| CN115835030A (en) * | 2022-11-21 | 2023-03-21 | 山东大学 | Ambient light suppression system and method for hyperspectral imaging equipment |
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Address after: 519000 2706, No. 3000, Huandao East Road, Hengqin new area, Zhuhai, Guangdong Applicant after: Zhuhai Yiwei Semiconductor Co.,Ltd. Address before: Room 105-514, No.6 Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Applicant before: AMICRO SEMICONDUCTOR Co.,Ltd. |
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