CN112286199A - Line patrol charging method for mobile robot - Google Patents
Line patrol charging method for mobile robot Download PDFInfo
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- CN112286199A CN112286199A CN202011231983.1A CN202011231983A CN112286199A CN 112286199 A CN112286199 A CN 112286199A CN 202011231983 A CN202011231983 A CN 202011231983A CN 112286199 A CN112286199 A CN 112286199A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000007689 inspection Methods 0.000 claims abstract description 12
- 230000009466 transformation Effects 0.000 claims abstract description 8
- 238000000605 extraction Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 239000002390 adhesive tape Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012417 linear regression Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000000750 progressive effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a patrol linear charging method of a mobile robot, which comprises the following steps: acquiring the nearest ground area right in front of the trolley; taking a designated area symmetrical to the axis of the camera as an inspection identification area, ensuring that a preset inspection beacon falls into the inspection identification area, dividing the inspection identification area into grids, and identifying and extracting the inspection beacon; taking a middle grid as an effective grid for each line of the grid in which the patrol beacon falls, and performing straight line least square fitting on the central points of all the effective grids to obtain the central line of the patrol beacon; and acquiring the offset distance and the angle deviation of the central line of the trolley and the line patrol beacon in real time, adjusting the angular speed according to the comparison information, and meanwhile, fixing the trolley forwards and moving at a low speed until the line patrol beacon cannot be detected, and stopping the trolley. The invention only needs to lay the linear beacon to carry out one-time perspective transformation calibration in field implementation, and has simple implementation and low cost; the SLAM positioning accuracy is +/-40 cm, and the fault tolerance is strong.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a line patrol charging method of a mobile robot.
Background
The mobile robot has wide application range, not only can be widely applied to the industries of agriculture, industry, medical treatment, service and the like, but also can be well applied to harmful and dangerous occasions in the fields of urban safety, national defense, space detection and the like. Therefore, mobile robots have gained widespread attention from various countries. The most central mobile robot technology is SLAM (Simultaneous Localization and Mapping), but the positioning accuracy of the mobile robot is about ± 5cm, and the requirement of high-precision docking with a charging station by ± 1cm is not satisfied, due to the SLAM positioning and actuator precision.
Designing a charging technology with high efficiency, stability and strong tolerance capability is an important ring for the application of mobile robot engineering. Aiming at the mobile robot based on the vision scheme regression charging, the conventional scheme generally comprises the steps of positioning and driving to a position close to a charging pile according to an SLAM, and then carrying out high-precision butt joint according to an infrared sensor, wherein more large-angle rotary motions are involved in the middle. On one hand, the existing scheme has higher requirement on SLAM positioning accuracy, otherwise, the infrared sensor is difficult to identify when the docking is started; on the other hand carries out the wide-angle rotation at the nearer position department of filling electric pile apart from, only is fit for circular, rotation center for the robot at body center, otherwise easily with fill electric pile collision.
Disclosure of Invention
In order to solve the technical problem, the invention provides a line patrol charging method for a mobile robot. The requirement on the SLAM positioning accuracy is low, large-angle motion can be realized when charging is started (far away from a charging pile), and the motion is basically carried out along a straight line in the later stage.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a line patrol charging method of a mobile robot comprises the following steps:
adjusting the posture of the camera to ensure that the camera does not detect the trolley body and detect the position right in front of the trolley as far as possible
The nearest ground area;
using the designated area with the axis symmetry in the camera as a line patrol identification area, dividing the line patrol identification area into grids, adjusting the position and the posture of the trolley, ensuring that the preset line patrol beacon falls into the line patrol identification area, and checking the line patrol
Identifying and extracting the line beacons;
taking a middle grid as an effective grid for each line of the grid in which the patrol beacon falls, and performing straight line least square fitting on the central points of all the effective grids to obtain the central line of the patrol beacon;
the method comprises the steps of acquiring the offset distance and the angle deviation of a trolley and the central line of a line patrol beacon in real time, adjusting the angular speed according to the offset distance and the angle deviation period acquired in real time, and meanwhile, fixing the trolley forwards and moving at a low speed until the line patrol beacon cannot be detected, and stopping the trolley.
Preferably, before identifying and extracting the patrol beacon, the method further includes the following steps: and carrying out perspective transformation calibration on the image in the line patrol identification area.
Preferably, the patrol beacon is a colored tape.
Preferably, the identification and extraction of the patrol beacon is performed by performing color identification and extraction of the patrol beacon based on the HSV color space.
Preferably, the colored adhesive tape is made of PVC.
Preferably, the width of the colored adhesive tape is 6-10 cm.
Preferably, the designated area is rectangular and has a size of 80cm by 20cm, and the patrol identification area is divided into a grid of 10 rows by 40 columns.
A computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a processor, implement the steps of a method as in any one of the above.
Based on the technical scheme, the invention has the beneficial effects that:
1) only a linear line patrol beacon needs to be laid in field implementation, and perspective transformation calibration is carried out once, so that the operation is convenient, the implementation is simple, and the cost is low;
2) the tolerance SLAM positioning accuracy is +/-40 cm, and the fault tolerance is strong;
3) follow linear motion when later stage is close to filling electric pile, be difficult for with fill electric pile collision, factor of safety improves.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
FIG. 1: the invention relates to a flow chart of a line patrol charging method of a mobile robot;
FIG. 2: the invention relates to a camera pose schematic diagram in a line patrol charging method of a mobile robot;
FIG. 3: according to the line patrol charging method for the mobile robot, the schematic perspective transformation diagram of the camera is shown;
FIG. 4: the invention relates to a line patrol beacon center line extraction schematic diagram in a line patrol charging method of a mobile robot;
FIG. 5: the invention relates to a motion control system schematic block diagram in a line patrol charging method of a mobile robot;
FIG. 6: the invention relates to a test environment schematic diagram in a line patrol charging method of a mobile robot;
FIG. 7: the mobile robot and the beacon center line offset distance curve chart is adopted in the embodiment of the invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1 to 7. The invention provides a line patrol charging method of a mobile robot by adopting a visual scheme, which comprises the following steps:
the method comprises the following steps: the camera posture of the inspection trolley is adjusted firstly, the camera is ensured not to detect the trolley body, and the nearest ground area in the front of the trolley is detected as much as possible.
Step two: an area with the width of 80cm and the length of 20cm, which is symmetrical about the central axis of the camera, is taken as a line patrol identification area (as shown in fig. 3), and other areas are less helpful for line patrol and may interfere with normal identification. Before charging, the yellow PVC floor tape as a patrol beacon is dropped into the identification area, and the tape width is about 8cm, as shown in fig. 2. The specified line patrol identification area width of 80cm represents that the allowable SLAM positioning and actuator precision is within +/-40 cm, and the length of 20cm represents that only yellow lines with the length of 20cm are processed (not too long).
Due to the visual characteristic, the rectangular yellow line in the line patrol identification area is deformed into a trapezoid, and the perspective transformation calibration of the image is required.
Step three: the routing identification area is divided into 10 rows by 40 columns of grids, and the multiplying factor of each column is about 2cm (the width of the routing identification area is 80 cm/the number of the grid columns is 40). The patrol beacon adopts HSV color space to recognize and extract color, a middle grid is taken as an effective grid for each line of the grid in which the beacon falls, and straight line least square fitting is carried out on the central points of all the effective grids to obtain the central line of the patrol beacon, as shown in figure 4.
Step four: the motion control system is shown in a block diagram in fig. 5, and adopts a closed-loop control mode, wherein a camera feeds back the offset distance and the angle deviation between the trolley and the central line of the line patrol beacon, a rotating angle controller PI adjusts the angular speed according to the fed-back offset distance and angle deviation period, the trolley moves forwards at a fixed and low linear speed, and the trolley stops when the line patrol beacon cannot be detected.
The embodiment is further described by taking an example that the mobile robot performs linear regression charging in an indoor environment of a company, and the specific steps are as follows:
the method comprises the following steps: and a pure yellow PVC floor adhesive tape (with lower transparency) is laid in front of the charging pile in a straight line to serve as a patrol beacon.
Step two: the camera posture of the inspection trolley is adjusted firstly, the camera is ensured not to detect the trolley body, and the nearest ground area in the front of the trolley is detected as much as possible.
Step three: and taking an 80 cm-20 cm area symmetrical to the central axis of the camera as a line patrol identification area, and carrying out perspective transformation calibration on the image in the area.
Step four: and (5) line walking repeatability experiment. The camera position during line patrol needs to be consistent with the calibration time, the mobile robot starts at a position which is about 25cm away from a deviation leading line and 200cm away from the far end of a line patrol beacon (as shown in figure 6), 5 times of repeated tests are carried out, the regression charging motion rule and the repeated positioning precision are determined, the test result of the deviation result of the rotation center of the mobile robot and the center line of the line patrol beacon is shown in figure 7, and the accuracy to the point is shown in the following table:
according to the experimental results, the mobile robot patrol charging method has the following advantages: the hardware cost is low; in field implementation, only a linear beacon needs to be laid, and perspective transformation calibration is carried out once, so that the implementation is simple and the cost is low; the SLAM positioning accuracy is +/-40 cm, and the fault tolerance is strong.
The above description is only a preferred embodiment of the method for charging a mobile robot in a patrol mode disclosed in the present invention, and is not intended to limit the scope of the embodiments of the present disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the embodiments of the present disclosure should be included in the protection scope of the embodiments of the present disclosure.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present specification are all described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Claims (8)
1. A line patrol charging method of a mobile robot is characterized by comprising the following steps:
adjusting the posture of the camera to ensure that the camera does not detect the trolley body and detect the nearest ground area right in front of the trolley as much as possible;
taking a designated area symmetrical to the axis of the camera as an inspection identification area, dividing the inspection identification area into grids, adjusting the position and the posture of the trolley, ensuring that a preset inspection beacon falls into the inspection identification area, and identifying and extracting the inspection beacon;
taking a middle grid as an effective grid for each line of the grid in which the patrol beacon falls, and performing straight line least square fitting on the central points of all the effective grids to obtain the central line of the patrol beacon;
the method comprises the steps of acquiring the offset distance and the angle deviation of a trolley and the central line of a line patrol beacon in real time, adjusting the angular speed according to the offset distance and the angle deviation period acquired in real time, and meanwhile, fixing the trolley forwards and moving at a low speed until the line patrol beacon cannot be detected, and stopping the trolley.
2. The method for charging a mobile robot around a straight line according to claim 1, wherein before the patrol beacon is identified and extracted, the method further comprises the following steps: and carrying out perspective transformation calibration on the image in the line patrol identification area.
3. The line patrol charging method for the mobile robot according to claim 1, wherein the line patrol beacon is a colored tape.
4. The line patrol charging method for the mobile robot according to claim 3, wherein the identifying and extracting of the patrol beacon is performed by performing color identification and extraction of the patrol beacon based on an HSV color space.
5. The line patrol charging method for the mobile robot according to claim 3, wherein the colored tape is made of PVC.
6. The line patrol charging method for a mobile robot according to claim 3, wherein the width of the colored tape is 6-10 cm.
7. The method according to claim 1, wherein the predetermined area is a rectangle and has a size of 80cm by 20cm, and the patrol identification area is divided into a grid of 10 rows by 40 columns.
8. A computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a processor, implement the steps in the method of any one of claims 1 to 7.
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|---|---|---|---|
| CN202011231983.1A CN112286199A (en) | 2020-11-06 | 2020-11-06 | Line patrol charging method for mobile robot |
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| CN202011231983.1A CN112286199A (en) | 2020-11-06 | 2020-11-06 | Line patrol charging method for mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113381667A (en) * | 2021-06-25 | 2021-09-10 | 哈尔滨工业大学 | Seedling searching walking system and method based on ROS and image processing |
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