CN112422839B - Control method of vision robot system - Google Patents
Control method of vision robot system Download PDFInfo
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- CN112422839B CN112422839B CN202011158083.9A CN202011158083A CN112422839B CN 112422839 B CN112422839 B CN 112422839B CN 202011158083 A CN202011158083 A CN 202011158083A CN 112422839 B CN112422839 B CN 112422839B
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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Abstract
The invention discloses a control method of a visual robot system, wherein the visual robot system comprises a visual robot and a charging seat, and the control method of the visual robot system specifically comprises the following steps: the image acquisition unit acquires an environment image and transmits the environment image to the control unit; the control unit receives the environment image transmitted by the image acquisition unit; calculating whether the current ambient light brightness meets a preset threshold range or not according to the ambient image information; judging whether the distance between the vision robot and the charging seat is greater than a preset distance; and if the current ambient light brightness meets the preset threshold range and the distance between the vision robot and the charging seat is greater than the preset distance, controlling the first light supplementing unit and the second light supplementing unit to be closed. The control method of the vision robot system disclosed by the invention has the advantages of flexible light supplement, system power consumption saving and high precision positioning.
Description
Technical Field
The invention relates to the field of robots, in particular to a control method of a visual robot system.
Background
With the development of science and technology, the application field of the robot is more and more extensive, and the indoor positioning and navigation technology of the existing robot mainly comprises laser navigation, infrared positioning navigation, ultrasonic positioning navigation, visual navigation and the like. The robot acquires images by external equipment such as a monocular camera, a binocular camera, a depth camera or video signal digitization equipment, processes acquired image information and is in contact with the actual position of the robot, and the robot vision positioning is completed. However, the existing robot applying the visual navigation technology still has one of the following problems: 1. the method comprises the following steps that the visual robot is limited to obtain clear environment images under actual environment light conditions, and therefore the positioning and navigation accuracy of the visual robot is influenced; 2. the vision robot provided with the light supplementing light source cannot flexibly adjust the light supplementing brightness according to the brightness of the vision environment, and the light supplementing light source is supplied with power by the vision robot, so that the power supply time of the vision robot after once charging is shortened; 3. the light supplementing unit is arranged in a preset movement area of the vision robot and fixed, the light supplementing position cannot be flexibly changed along with the movement of the vision robot, and the positioning and navigation accuracy of the vision robot is affected due to the fact that the light supplementing effect of part of angles or positions is poor.
Disclosure of Invention
In order to solve the problems, the invention provides a control method of a vision robot system, which solves the problem that the vision environment light condition limits the vision robot system, improves the working time of the vision robot after one-time charging, and improves the working efficiency of the vision robot system. The specific technical scheme of the invention is as follows:
a control method of a vision robot system, the vision robot system includes a vision robot and a charging stand; the vision robot comprises an image acquisition unit, a control unit and a first light supplementing unit; the charging seat comprises a second light supplement unit; the control method of the visual robot system specifically comprises the following steps: the image acquisition unit acquires an environment image and transmits the environment image to the control unit; the control unit receives the environment image transmitted by the image acquisition unit; judging whether the current ambient light brightness meets a preset threshold range or not according to the ambient image information; judging whether the distance between the vision robot and the charging seat is greater than a preset distance; and if the current ambient light brightness meets the preset threshold range and the distance between the vision robot and the charging seat is greater than the preset distance, controlling the first light supplementing unit and the second light supplementing unit to be closed. The control method provides a light supplementing light source with adjustable brightness and a light supplementing light source with unchanged brightness, is used for supplementing light for the vision robot system, switches different light supplementing units according to actual requirements, and has high flexibility; the control method of the vision robot system switches the first light supplementing unit and the second light supplementing unit based on the current ambient light brightness to perform adaptive light supplementing on the vision robot, and closes the light supplementing unit under the condition that the ambient light brightness meets the positioning requirement of the vision robot, so that the power consumption of the system is saved, and the working time of the vision robot after once charging is prolonged.
Further, under the condition that the current ambient light brightness does not meet the preset threshold range and the distance between the vision robot and the charging seat is greater than the preset distance, the first light supplement unit is started to perform self-adaptive light supplement adjustment according to the current ambient light brightness, so that the ambient light brightness meets the preset threshold range, and the vision robot realizes vision positioning navigation based on the ambient image. Under the circumstances, the vision robot is influenced by the ambient light brightness and can not acquire a clear ambient image, and the light source with the unchanged brightness of the second light supplementing unit can not play a light supplementing effect due to the fact that the distance is far away, so that the first light supplementing unit capable of controlling the brightness to be adjusted provides light supplementing for the vision robot, and the problem that the vision robot is limited by the ambient light brightness is solved.
Further, when the current ambient light brightness does not satisfy the preset threshold range, the vision robot is in the low-power early warning and returns the charging state and the distance between the vision robot and the charging seat is greater than the preset distance, the second light supplement unit is started to provide a light source with unchanged brightness for the vision robot, so that the ambient light brightness satisfies the preset threshold range, and the vision robot can realize positioning based on the ambient image. This technical scheme has solved the problem that can't provide the electric quantity in order to reach the purpose of light filling to the light filling unit that self carried when the vision robot is low-power, and second light filling unit passes through the commercial power supply, for the vision robot provides the unchangeable light source of luminance, adjusts environment light brightness for the vision robot can stabilize accurate navigation and return the seat.
Further, when the current ambient light brightness does not satisfy the preset threshold range, the distance between the visual robot and the charging base is smaller than or equal to the preset distance, and the visual robot is not in the charging state, the second light supplement unit is started to provide a light source with unchanged brightness for the visual robot, so that the ambient light brightness satisfies the preset threshold range, and the visual robot can realize positioning based on the ambient image. According to the technical scheme, the second light supplement unit powered by the mains supply is used for providing the light supplement light source with unchanged brightness, the power consumption of the vision robot is saved, and the working time of the vision robot after one-time charging is prolonged.
Further, when the current ambient light brightness meets the preset threshold range, the distance between the vision robot and the charging seat is smaller than or equal to the preset distance, and the robot is not in the charging state, the second light supplementing unit is started to provide a light source with unchanged brightness for the vision robot, so that the ambient light brightness meets the preset threshold range, and the vision robot can realize positioning according to the ambient image. According to the technical scheme, under the condition that the environmental light brightness meets the preset threshold range, the second light supplementing unit is utilized to provide the light source with unchanged brightness for the vision robot, so that the vision robot can be more accurately and efficiently connected with the charging interface of the charging base, and the seat returning accuracy of the vision robot is improved.
Further, the vision robot is in a charging state, and the first light supplement unit and the second light supplement unit are turned off. According to the technical scheme, the vision robot is in a charging state, the vision robot does not need navigation and positioning at the moment, the first light supplementing unit and the second light supplementing unit are closed, and power consumption of a vision robot system is reduced.
Further, the control unit identifies that the environmental image has the object imaging information of overexposure, and controls the first light supplementing unit to reduce the light supplementing brightness to a preset safe brightness. According to the technical scheme, the condition that the environmental image has the image information of the overexposed object is regarded as that the biological approaching vision robot exists, the brightness of the first light supplementing unit is adjusted to the preset safe brightness, and the condition that light supplementing light beams damage the vision of the organism is prevented.
Furthermore, the vision robot is provided with an infrared sensor for detecting whether the living being enters a preset area, and if the living being enters the preset area, the control unit controls the first light supplementing unit to reduce the light supplementing brightness to a preset safe brightness. According to the technical scheme, whether organisms enter a preset area or not is identified through the infrared sensor, the brightness of the first light supplementing unit is adjusted to preset safe brightness, and the condition that light supplementing light beams damage the vision of the organisms is prevented.
Further, the control unit transmits an instruction to the second supplementary lighting unit in a wireless communication manner. According to the technical scheme, the vision robot and the charging seat are connected through wireless communication, the second light supplementing unit is remotely controlled, and the second light supplementing unit is not limited by distance.
Drawings
Fig. 1 is a flowchart illustrating a control method of a vision robot system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
An embodiment of the present invention provides a method for controlling a vision robot system, and the specific steps of the method for controlling a vision robot system can be referred to as shown in fig. 1:
step S01: the image acquisition unit of the visual robot acquires an environment image and transmits the environment image to the control unit of the visual robot, and the step S02 is executed; the visual robot is a robot for performing visual positioning navigation based on an environment image, and can be but is not limited to a ceiling visual robot, a monocular visual robot, a binocular visual robot, a panoramic visual robot or a hybrid visual robot; the image acquisition unit comprises an image acquisition device which can be but is not limited to a monocular camera, a binocular camera, a CMOS camera or a CCD camera and the like.
Step S02: the control unit of the vision robot acquires the current ambient light brightness based on the ambient image acquired by the image acquisition unit, and proceeds to step S03.
Step S03: judging whether the current environment light brightness is in a preset threshold range, if so, entering a step S04, and if not, entering a step S5; the preset threshold range refers to a threshold range pre-configured in the control unit of the vision robot, and when the ambient light brightness is within the preset threshold range, the image acquisition unit of the vision robot can acquire clear ambient images, otherwise, the ambient images acquired by the image acquisition unit are not clear, which affects the vision robot to acquire accurate positioning information.
Step S04: the visual robot carries out visual positioning navigation based on the environment image; specifically, the current ambient light brightness meets the preset threshold range, so that the ambient image acquired by the vision robot is clear enough, and accurate positioning information can be acquired.
Step S05: judging whether the distance between the visual robot and the charging seat is greater than a preset distance, if so, entering a step S06, and if so, entering a step S10; the preset distance is a distance value pre-configured on the control unit of the visual robot, when the distance between the visual robot and the charging seat is greater than the preset distance, the second light supplement unit of the charging seat cannot provide effective light supplement for the visual robot, otherwise, when the distance between the visual robot and the charging seat is less than or equal to the preset distance, the second light supplement unit of the charging seat can provide effective light supplement for the visual robot, and the second light supplement unit is compared with the first light supplement unit, so that the advantage that the electric quantity of the visual robot is not consumed due to the fact that the commercial power is supplied is achieved.
Step S06: judging whether the visual robot is in a charging state, if not, entering step S07, and if so, entering step S09; the charging state refers to a state that the visual robot is in butt joint with a charging interface of a charging seat for charging, and when the visual robot is in the charging state, the visual robot does not perform positioning work and does not need to acquire an environment image.
Step S07: the control unit of the vision robot controls the second light supplementing unit to provide a light source with unchanged brightness for the vision robot through wireless communication, and the step S08 is carried out; the wireless communication mode may be, but is not limited to, WIFI, bluetooth, ZigBee, or the like.
Step S08: the visual robot acquires a current environment image to perform visual positioning navigation; specifically, the vision robot acquires a clear environment image with the environment brightness meeting the preset threshold range again after light supplement.
Step S09: the first light supplementing unit and the second light supplementing unit are in a closed state; specifically, the vision robot does not perform positioning work in a charging state, does not need to collect an environment image, namely, does not need a light supplement unit for light supplement, and closes the first light supplement unit and the second light supplement unit to reduce power consumption of the vision robot system.
Step S10: the control unit of the vision robot controls the first light supplement unit to adjust the light supplement brightness according to the current ambient light brightness, so that the ambient light brightness meets the preset threshold range, and the process enters step S11; the first light supplement unit provides a light supplement lamp with adjustable brightness, can flexibly provide light supplement brightness according to the adaptability of the brightness of the environment, and reduces extra power consumption of the light supplement lamp.
Step S11: the vision robot acquires the current environment image for vision positioning navigation, and the step S12 is entered; specifically, the visual robot acquires a clear environment image with the environment brightness meeting the preset threshold range again after light supplement.
Step S12: judging whether the living things enter the preset area, if so, entering the step S13, and if not, returning to the step S11; the preset area is a limited area which is configured in the control unit in advance, the risk that the light supplementing beam of the first light supplementing unit hurts the eyesight of the eyeball when the organism enters the preset area exists, and the problem that the eyesight of the organism is hurt by the light supplementing beam can be avoided through the preset area.
Step S13: the control unit of the vision robot controls the supplementary lighting brightness of the first supplementary lighting unit to a preset safe brightness, and the step S14 is entered; the preset safe brightness is a brightness value at which the light supplementing beam of the first light supplementing unit does not damage the biological vision in the preset area.
Step S14: it is determined whether the living being leaves the preset area, and if the living being leaves the preset area, the process returns to step S10, and if the living being does not leave the preset area, the process returns to step S13.
Regarding the control method of the vision robot system, description is made in five embodiments.
The first embodiment is as follows: there is a vision robot system, vision robot system includes vision robot and charging seat, vision robot includes image acquisition unit, the control unit and first light filling unit, the charging seat includes second light filling unit, current environment image is gathered and transmission extremely to the control unit to the image acquisition unit, the control unit is based on environment image acquires current environment luminance, and current environment luminance satisfies predetermine the threshold value within range, just vision robot with the distance of charging seat is greater than predetermine the distance, first light filling unit and second light filling unit are out of work, vision robot is based on current environment image carries out the location navigation.
Example two: there is a vision robot system, vision robot system includes vision robot and charging seat, vision robot includes image acquisition unit, the control unit and first light filling unit, the charging seat includes second light filling unit, current environment image is gathered and transmission extremely to the control unit to the image acquisition unit, the control unit is based on environment image acquires current environment luminance, and current environment luminance satisfies predetermine the threshold value within range, just vision robot with the distance of charging seat is less than predetermine the distance, open second light filling unit, vision robot fixes a position the navigation based on current environment image. The second light supplementing unit is used for providing light supplementing for the vision robot, the electric quantity of the vision robot is not consumed, and the accuracy of the vision robot in returning to the base to be connected with the charging interface can be improved.
Example three: there is a vision robot system, the vision robot system includes a vision robot and a charging seat, the vision robot includes an image collecting unit, a control unit and a first light supplementing unit, the charging seat includes a second light supplementing unit, the image collecting unit collects the current environment image and transmits to the control unit, the control unit obtains the current environment brightness based on the environment image, the current environment brightness does not satisfy the preset threshold range, and the distance between the vision robot and the charging seat is greater than the preset distance, the first light supplementing unit is turned on, the first light supplementing unit adjusts the light supplementing brightness according to the current environment brightness, so that the current environment brightness satisfies the preset threshold range after the light supplementing, the vision robot obtains the environment image after the light supplementing and performs positioning navigation based on the environment image after the light supplementing, the vision robot discerns the biology that appears in predetermineeing the region based on the environment image, adjusts the light filling luminance of first light filling unit to predetermineeing safe luminance, and after a period, the vision robot is based on the environment image discernment and is left in predetermineeing the region to the biology, and the light filling luminance of first light filling unit is adjusted to make current environment luminance satisfy and predetermine the threshold value within range.
Example four: there is a vision robot system, vision robot system includes vision robot and charging seat, the vision robot includes image acquisition unit, the control unit and first light filling unit, the charging seat includes second light filling unit, image acquisition unit gathers current environment image and transmits extremely the control unit, the control unit is based on image acquisition current environment luminance, current environment luminance is unsatisfied predetermine the threshold value scope, just the distance of vision robot and charging seat is less than predetermine the distance, open the second light filling unit, the vision robot acquires the environment image after the light filling and fixes a position the navigation based on the environment image after the light filling. The second light supplementing unit is used for providing a light source with unchanged brightness for the vision robot to serve as light supplementing, the electric quantity of the vision robot is not required to be consumed, the brightness of the environment is improved, and the environment image acquired by the vision robot is clearer.
Example five: there is a vision robot system, vision robot system includes vision robot and charging seat, vision robot includes image acquisition unit, the control unit and first light filling unit, the charging seat includes second light filling unit and the interface that charges, vision robot with the interface butt joint that charges of charging seat, vision robot is in charged state, closes first light filling unit and second light filling unit, reduces vision robot system's power consumptive.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and it should be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made on the embodiments without departing from the principle and spirit of the present invention, and all of them should be included in the protection scope of the present invention.
Claims (6)
1. A control method of a visual robot system comprises the visual robot and a charging seat, and is characterized in that the visual robot comprises an image acquisition unit, a control unit and a first light supplement unit, and the charging seat comprises a second light supplement unit, and the control method of the visual robot system specifically comprises the following steps:
the image acquisition unit acquires an environment image and transmits the environment image to the control unit;
the control unit receives the environment image transmitted by the image acquisition unit;
judging whether the current ambient light brightness meets a preset threshold range or not according to the ambient image information;
judging whether the distance between the vision robot and the charging seat is greater than a preset distance;
judging whether the visual robot is in a charging state or not;
if the current ambient light brightness meets the preset threshold range and the distance between the vision robot and the charging seat is greater than the preset distance, controlling the first light supplementing unit and the second light supplementing unit to be closed;
if the current ambient light brightness does not meet the preset threshold range and the distance between the vision robot and the charging seat is greater than the preset distance, starting a first light supplement unit to perform self-adaptive light supplement adjustment according to the current ambient light brightness, so that the ambient light brightness meets the preset threshold range, and realizing visual positioning navigation by the vision robot based on the ambient image;
if the current ambient light brightness does not meet the preset threshold range, the distance between the visual robot and the charging seat is smaller than or equal to the preset distance, and the visual robot is not in a charging state, a second light supplementing unit is started to provide a light source with unchanged brightness for the visual robot, so that the ambient light brightness meets the preset threshold range, and the visual robot can realize positioning navigation based on an ambient image;
if the current ambient light brightness meets the preset threshold range, the distance between the vision robot and the charging seat is smaller than or equal to the preset distance, and the vision robot is not in the charging state, the second light supplementing unit is started to provide a light source with unchanged brightness for the vision robot, so that the ambient light brightness meets the preset threshold range, and the vision robot can realize positioning navigation based on the ambient image.
2. The method of controlling a visual robot system according to claim 1, further comprising: at present, the ambient light brightness does not satisfy and predetermine the threshold value scope, and under the vision robot was in low electric quantity early warning and returns under the seat charged state and the distance of vision robot and charging seat was greater than the condition of predetermineeing the distance, open the unchangeable light source of second light filling unit for the vision robot provides luminance for ambient light brightness satisfies and predetermines the threshold value scope, and the vision robot can realize the location navigation based on the ambient image.
3. The method of controlling a visual robot system according to claim 1, further comprising: the vision robot is in a charging state, and the first light supplementing unit and the second light supplementing unit are closed.
4. The method as claimed in claim 1, wherein the control unit recognizes that the environmental image has overexposed object imaging information, and controls the first fill-in light unit to reduce fill-in light brightness to a preset safe brightness.
5. The method as claimed in claim 1, wherein the vision robot is equipped with an infrared sensor for detecting whether the living being enters a predetermined area, and the control unit controls the first light supplement unit to reduce the light supplement brightness to a predetermined safe brightness if the living being enters the predetermined area.
6. The method as claimed in claim 1, wherein the control unit transmits the command to the second supplementary lighting unit by wireless communication.
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| CN107137026A (en) * | 2017-06-26 | 2017-09-08 | 深圳普思英察科技有限公司 | A kind of sweeping robot and its camera light-supplementing system, method |
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| CN108574804A (en) * | 2018-07-04 | 2018-09-25 | 珠海市微半导体有限公司 | A kind of Light Source Compensation system and method for vision robot |
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