CN112644398B - Vehicle line patrol method based on robot intelligent vision - Google Patents
Vehicle line patrol method based on robot intelligent vision Download PDFInfo
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- CN112644398B CN112644398B CN202010901777.0A CN202010901777A CN112644398B CN 112644398 B CN112644398 B CN 112644398B CN 202010901777 A CN202010901777 A CN 202010901777A CN 112644398 B CN112644398 B CN 112644398B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
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Abstract
The invention provides a vehicle line patrol method based on robot intelligent vision. The vehicle line patrol method based on the robot intelligent vision comprises the following steps: s1: at the top installation forward-looking camera of vehicle, be connected through the top of mount pad with the vehicle, install the mounting panel on the fixed slot afterwards, insert the connecting block in the through-hole on the limiting plate, the cambered surface of fixture block can be extruded through the inner wall of through-hole for the fixture block is to the inside removal of recess, extrudees the second spring through the sliding block, removes the bottom of limiting plate when the fixture block. The vehicle line patrol method based on the intelligent robot vision is convenient to install, does not need tools, saves installation time, reduces installation difficulty, cleans the mirror surface of the camera body through the up-and-down reciprocating motion of the cleaning cloth, and can prevent dust from attaching to the mirror surface of the camera body to cause that the shooting is not clear and the accurate acquisition of image information is influenced.
Description
Technical Field
The invention relates to the field of intelligent transportation, in particular to a vehicle line patrol method based on robot intelligent vision.
Background
With the acceleration of urbanization, the existing traffic infrastructure and management approaches lag behind the development of the era. The traditional method is far from adapting to the development of modern traffic and an intelligent traffic system needs to be developed simply by widening roads, building elevated roads, paving rail traffic, setting signs, encouraging riding public traffic and even air traffic. The intelligent traffic system is a comprehensive traffic command, management and control system which is established by effectively and comprehensively applying advanced information technology, data communication transmission technology, control technology, artificial intelligence technology and the like to the whole traffic management system, plays a role in a large range and all-round and is used for real-time, accurate and efficient transportation.
The intelligent transportation system is a comprehensive transportation system which effectively and comprehensively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation research, artificial intelligence and the like) to transportation, service control and vehicle manufacturing, strengthens the relation among vehicles, roads and users, and accordingly ensures safety, improves efficiency, improves environment and saves energy.
However, the existing vehicle line patrol method based on robot intelligent vision has certain defects, the installation of the front-view camera is inconvenient, the front-view camera cannot be quickly installed and disassembled, the front-view camera is exposed for use, the safety is not high, and the mirror surface is easily attached by dust to influence the shooting of image information.
Therefore, it is necessary to provide a vehicle line patrol method based on robot smart vision to solve the above technical problems.
Disclosure of Invention
The invention provides a vehicle line patrol method based on robot intelligent vision, which solves the problems that a front-view camera is inconvenient to install, cannot be quickly installed and disassembled, is exposed for use, is low in safety, and has the influence on image information shooting due to the fact that a mirror surface is easily attached by dust.
In order to solve the technical problem, the vehicle line patrol method based on the robot intelligent vision provided by the invention comprises the following steps:
s1: the front-view camera is arranged on the top of the vehicle and is connected with the top of the vehicle through the mounting seat, then the mounting plate is arranged on the fixed groove, the connecting block is inserted into the through hole on the limiting plate, the cambered surface of the clamping block is extruded through the inner wall of the through hole, the clamping block moves towards the inside of the groove, the second spring is extruded through the sliding block, when the clamping block moves to the bottom of the limiting plate, the second spring resets to drive the clamping block to move outwards so as to fix the mounting plate, the rotating motor rotates to drive the rotating rod to rotate through the starting of the rotating motor, the rotating rod rotates to drive the rotating wheel to rotate, so that the lug makes circular motion, the lug circular motion is matched with the use of the sliding groove so as to enable the moving plate to reciprocate up and down, the moving plate can drive the moving plate to reciprocate up and down through the sliding rod, so that the cleaning cloth reciprocates up and down to clean the mirror surface of the camera body, after cleaning, shooting an image of a road area in the advancing direction of the vehicle by a vehicle front-view camera, and acquiring an RGB (red, green and blue) color image of a road surface by an image acquisition module, wherein the RGB color image contains lane line information;
S2: the image processing module converts the RGB color image into a gray image;
s3: the binarization module acquires an optimal dynamic threshold value of each frame of image in the gray level image, performs image segmentation to obtain a binarization image, and separates out lane lines, wherein the optimal dynamic threshold value is determined by adopting a self-adaptive threshold value algorithm according to the intensity of the environment light where the vehicle is located;
s4: the edge detection module carries out edge detection on the binary image to obtain edge images of the inner edge and the outer edge of the lane line;
s5: the processor detects a lane line in the edge image by using Hough transform, acquires lane line parameters and establishes a lane line model, wherein the lane line parameters comprise an included angle of a lane line slope in a vehicle coordinate system;
s6: the processor acquires lane position data of the vehicle in a world coordinate system through inverse perspective transformation by using the acquired lane line parameters, and acquires the driving state of the vehicle at the current moment according to the road surface image information, the obstacle position, the lane line and vehicle body distance parameters and the vehicle corner, wherein the driving state comprises left turning, right turning, straight going and stopping;
s7: the processor sends a control command to the controller by using the vehicle turning angle and the distance parameter obtained in the step S6 and adopting a sectional type self-adaptive control strategy according to the driving mode of the vehicle;
S8: the controller receives a control command of the processor, and controls the driving direction and the driving speed of the vehicle in real time by adjusting parameters of the steering engine and the motor.
Preferably, in the S1, the mounting seat and the mounting plate, the top of the mounting seat is fixedly connected with a fixing groove, a limiting plate is fixedly connected between two sides of the inner wall of the fixing groove, a through hole is formed in the limiting plate, the through hole is matched with the connecting block, sliding plates are slidably connected to two sides of the bottom of the inner wall of the fixing groove, pull rods are fixedly connected to the separated sides of the two sliding plates, one end of each pull rod penetrates through the fixing groove and extends to the outside of the fixing groove, a first spring is arranged between the separated side of each sliding plate and the two sides of the inner wall of the fixing groove, the bottom of the mounting plate is fixedly connected with the connecting block, two grooves are formed in the connecting block, sliding blocks are slidably connected between the top and the bottom of the inner wall of the two grooves, and a clamping block is fixedly connected to the separated side of each sliding block, two one side that the sliding block is relative with all be provided with the second spring between the inner wall of recess.
Preferably, the bottoms of the two clamping blocks are both in a cambered surface structure.
Preferably, the bottom of fixed slot inner wall is provided with the jack-up structure, the jack-up structure includes the bottom plate, the bottom of bottom plate is fixed in the bottom of fixed slot inner wall, the top fixedly connected with telescopic link of bottom plate, the top fixedly connected with roof of telescopic link, the roof with be provided with the third spring between the relative one side of bottom plate.
Preferably, the equal fixedly connected with spacing groove in both sides of fixed slot, the equal fixedly connected with anticreep board in both sides of mounting panel bottom, spacing groove and anticreep board looks adaptation.
Preferably, the top fixedly connected with protective frame of mounting panel, the bottom fixedly connected with camera body of protective frame inner wall.
Preferably, both sides of the top of the protection frame are both connected with sliding rods in a sliding mode, a moving plate is fixedly connected between the top ends of the two sliding rods, and a sliding groove is formed in the moving plate.
Preferably, two the bottom of slide bar all runs through the protection frame and extends to the inside of protection frame, two fixedly connected with moving plate between the bottom of slide bar, the back of moving plate is provided with first magic subsides.
Preferably, the cleaning device further comprises a cleaning cloth, wherein a second magic tape is arranged on the front surface of the cleaning cloth, and the cleaning cloth is connected to the back surface of the movement plate through the second magic tape and the first magic tape.
Preferably, the top fixedly connected with fixed plate of protection frame, motor cabinet fixedly connected with rotating electrical machines is passed through at the back of fixed plate, rotating electrical machines's output shaft fixedly connected with dwang, the one end of dwang is run through the fixed plate extends to the front of fixed plate, the dwang extends to the positive one end fixedly connected with of fixed plate rotates the wheel, rotate the positive fixedly connected with lug of wheel, lug sliding connection is in the inside of spout, and rotating electrical machines passes through control switch and is connected with external power supply, and rotating electrical machines is step motor, rotates at every turn to 360.
Compared with the related art, the vehicle line patrol method based on the robot intelligent vision has the following beneficial effects:
the invention provides a vehicle line patrol method based on robot intelligent vision, which comprises the steps of connecting the top of a vehicle through an installation seat, then installing an installation plate on a fixed groove, inserting a connecting block into a through hole on a limiting plate, extruding the cambered surface of a clamping block through the inner wall of the through hole to enable the clamping block to move towards the inside of a groove, extruding a second spring through a sliding block, resetting the second spring to drive the clamping block to move outwards when the clamping block moves to the bottom of the limiting plate, so that the installation plate is fixed, the installation is convenient, tools are not needed, the installation time is saved, the installation difficulty is reduced, starting a rotary motor, rotating a rotating rod is driven by the rotary motor to rotate, the rotating rod drives a rotating wheel to rotate, so that a convex block makes circular motion, the convex block is matched with a sliding groove, so that a moving plate reciprocates up and down, the moving plate reciprocates up and down through the sliding rod, and drives the moving plate to reciprocate up and down, thereby make cleaning cloth up-and-down motion clear up the mirror surface of camera body, can prevent that the dust from leading to shooting on the mirror surface of camera body not clear, influence image information's accurate acquirement.
Drawings
FIG. 1 is a schematic step diagram of a vehicle line patrol method based on robot intelligent vision according to the present invention;
FIG. 2 is a schematic structural diagram of a mounting device provided by the present invention;
FIG. 3 is a cross-sectional view of the connector block shown in FIG. 2;
FIG. 4 is a schematic structural view of the jacking device shown in FIG. 2;
FIG. 5 is a side view of the sports board shown in FIG. 2;
fig. 6 is a side view of the fixing plate shown in fig. 2.
The reference numbers in the figures: 1. the mounting base, 2, the mounting panel, 3, the fixed slot, 4, the limiting plate, 5, the through-hole, 6, the sliding plate, 7, the pull rod, 8, first spring, 9, the connecting block, 10, the recess, 11, the sliding block, 12, the fixture block, 13, the second spring, 14, the jack-up structure, 141, the bottom plate, 142, the telescopic link, 143, the roof, 144, the third spring, 15, the spacing groove, 16, the anticreep board, 17, the protective frame, 18, the camera body, 19, the slide bar, 20, the movable plate, 21, the spout, 22, the motion plate, 23, first magic subsides, 24, cleaning cloth, 25, the second magic subsides, 26, the fixed plate, 27, rotating electrical machines, 28, the dwang, 29, the running wheel, 30, the lug.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6 in combination, wherein fig. 1 is a schematic step diagram of a vehicle route patrol method based on robot smart vision according to the present invention; FIG. 2 is a schematic structural diagram of a mounting device provided by the present invention; FIG. 3 is a cross-sectional view of the connecting block shown in FIG. 2; FIG. 4 is a schematic structural view of the jacking device shown in FIG. 2; FIG. 5 is a side view of the sports board shown in FIG. 2; fig. 6 is a side view of the fixing plate shown in fig. 2. The vehicle line patrol method based on the robot intelligent vision comprises the following steps:
s1: the front-view camera is arranged on the top of the vehicle and is connected with the top of the vehicle through the mounting seat, then the mounting plate is arranged on the fixed groove, the connecting block is inserted into the through hole on the limiting plate, the cambered surface of the clamping block is extruded through the inner wall of the through hole, the clamping block moves towards the inside of the groove, the second spring is extruded through the sliding block, when the clamping block moves to the bottom of the limiting plate, the second spring resets to drive the clamping block to move outwards so as to fix the mounting plate, the rotating motor rotates to drive the rotating rod to rotate through the starting of the rotating motor, the rotating rod rotates to drive the rotating wheel to rotate, so that the lug makes circular motion, the lug circular motion is matched with the use of the sliding groove so as to enable the moving plate to reciprocate up and down, the moving plate can drive the moving plate to reciprocate up and down through the sliding rod, so that the cleaning cloth reciprocates up and down to clean the mirror surface of the camera body, after cleaning, shooting an image of a road area in the advancing direction of the vehicle by a vehicle front-view camera, and acquiring an RGB (red, green and blue) color image of a road surface by an image acquisition module, wherein the RGB color image contains lane line information;
S2: the image processing module converts the RGB color image into a gray image;
s3: the binarization module acquires an optimal dynamic threshold value of each frame of image in the gray level image, performs image segmentation to obtain a binarization image, and separates out lane lines, wherein the optimal dynamic threshold value is determined by adopting a self-adaptive threshold value algorithm according to the intensity of the environment light where the vehicle is located;
s4: the edge detection module carries out edge detection on the binary image to obtain edge images of the inner edge and the outer edge of the lane line;
s5: the processor detects a lane line in the edge image by using Hough transform, acquires lane line parameters and establishes a lane line model, wherein the lane line parameters comprise an included angle of a lane line slope in a vehicle coordinate system;
s6: the processor acquires lane position data of the vehicle in a world coordinate system through inverse perspective transformation by using the acquired lane line parameters, and acquires the driving state of the vehicle at the current moment according to the road surface image information, the obstacle position, the lane line and vehicle body distance parameters and the vehicle corner, wherein the driving state comprises left turning, right turning, straight going and stopping;
s7: the processor sends a control command to the controller by using the vehicle turning angle and the distance parameter obtained in the step S6 and adopting a sectional type self-adaptive control strategy according to the driving mode of the vehicle;
S8: and the controller receives a control command of the processor, and controls the driving direction and the driving speed of the vehicle in real time by adjusting parameters of the steering engine and the motor.
In the S1, the top of the mounting seat 1 is fixedly connected with a fixing groove 3, a limiting plate 4 is fixedly connected between two sides of the inner wall of the fixing groove 3, a through hole 5 is formed in the limiting plate 4, sliding plates 6 are slidably connected to two sides of the bottom of the inner wall of the fixing groove 3, pull rods 7 are fixedly connected to the sides of the two sliding plates 6 which are away from each other, one end of each pull rod 7 penetrates through the fixing groove 3 and extends to the outside of the fixing groove 3, a first spring 8 is arranged between the side of the two sliding plates 6 which are away from each other and two sides of the inner wall of the fixing groove 3, a connecting block 9 is fixedly connected to the bottom of the mounting plate 2, two grooves 10 are formed in the connecting block 9, sliding blocks 11 are slidably connected between the top and the bottom of the inner wall of the two grooves 10, and clamping blocks 12 are fixedly connected to the side of the two sliding blocks 11 which are away from each other, and a second spring 13 is arranged between one side of each of the two sliding blocks 11 opposite to the inner wall of the groove 10.
Be connected through the top of mount pad 1 with the vehicle, install mounting panel 2 on fixed slot 3 afterwards, insert connecting block 9 in the through-hole 5 on the limiting plate 4, inner wall through-hole 5 can extrude the cambered surface of fixture block 12, make fixture block 12 to recess 10 inside removal, extrude second spring 13 through sliding block 11, move the bottom to limiting plate 4 when fixture block 12, second spring 13 resets and drives fixture block 12 outside removal, thereby make mounting panel 2 fixed, through two pull rods 7 of manual pressure, make two pull rods 7 relative movement drive two sliding plate 6 relative movements, two sliding plate 6 relative movements can be close to two fixture blocks 12 gradually, extrude two fixture blocks 12 afterwards and make two fixture blocks 12 to recess 10 inside removal, cooperation jack-up structure 14's use, with ejecting through-hole of connecting block 9, thereby the dismantlement has been made things convenient for.
The bottoms of the two clamping blocks 12 are both arc-shaped structures.
The bottom of fixed slot 3 inner wall is provided with jack-up structure 14, jack-up structure 14 includes bottom plate 141, the bottom of bottom plate 141 is fixed in the bottom of fixed slot 3 inner wall, the top fixedly connected with telescopic link 142 of bottom plate 141, the top fixedly connected with roof 143 of telescopic link 142, roof 143 with be provided with third spring 144 between the relative one side of bottom plate 141.
Through the setting of jack-up structure 14, insert through-hole 5 back when connecting block 9, can extrude roof 143 and make roof 143 remove extrusion third spring 144 downwards, receive the oppression of sliding plate 6 back to inside the removal of recess 10 when two fixture blocks 12, third spring 144 can drive roof 143 rebound because self elastic force resets this moment to jack-up connecting block 9 has made things convenient for the dismantlement.
The equal fixedly connected with spacing groove 15 in both sides of fixed slot 3, the equal fixedly connected with anticreep board 16 in both sides of 2 bottoms of mounting panel, when mounting panel 2 is installed on fixed slot 3, two anticreep boards 16 are inserted in two spacing grooves 15, and when dismantling, thereby jack-up structure 14 can jack-up connecting block 9 can jack-up mounting panel 2, spacing groove 15 and anticreep board 16 can guarantee that mounting panel 2 can not squint and with fixed slot 3 between take place the obscission, stability when guaranteeing to dismantle.
The top fixedly connected with protective frame 17 of mounting panel 2, the bottom fixedly connected with camera body 18 of protective frame 17 inner wall can protect camera body 18 through the setting of protective frame 17, guarantees camera body 18's security.
The protection frame 17 is characterized in that sliding rods 19 are connected to two sides of the top of the protection frame 17 in a sliding mode, a moving plate 20 is fixedly connected between the top ends of the two sliding rods 19, and a sliding groove 21 is formed in the moving plate 20.
The bottom ends of the two sliding rods 19 all penetrate through the protection frame 17 and extend to the inside of the protection frame 17, a moving plate 22 is fixedly connected between the bottom ends of the two sliding rods 19, and a first magic tape 23 is arranged on the back face of the moving plate 22.
The cleaning cloth 24 is connected to the back of the moving plate 22 through the second magic tape 25 and the first magic tape 23, and the cleaning cloth 24 can be detached through the arrangement of the second magic tape 25 and the first magic tape 23, so that the cleaning cloth 24 is convenient to replace.
Top fixedly connected with fixed plate 26 of protection frame 17, motor cabinet fixedly connected with rotating electrical machines 27 is passed through at the back of fixed plate 26, rotating electrical machines 27's output shaft fixedly connected with dwang 28, the one end of dwang 28 is run through fixed plate 26 extends to the front of fixed plate 26, dwang 28 extends to the positive one end fixedly connected with of fixed plate 26 rotates wheel 29, the positive fixedly connected with lug 30 of rotation wheel 29.
Through rotating electrical machines 27's start-up, the rotatory a week of rotating electrical machines 27 drives the rotatory a week of dwang 28, the rotatory a week of dwang 28 drives the rotatory a week of dwang wheel 29, thereby make lug 30 be circular motion a week, the use of lug 30 circular motion a week cooperation spout 31, make movable plate 20 reciprocating up and down once, reciprocating up and down once will drive reciprocating plate 22 through slide bar 19 and reciprocating up and down once movable plate 20, thereby make cleaning cloth 24 reciprocating up and down once clear up the mirror surface of camera body 18 once, can prevent the mirror surface accumulation dust of camera body 18 through intermittent type formula clearance, and can not influence camera body 18 and shoot.
The working principle of the robot intelligent vision-based vehicle line patrol method provided by the invention is as follows:
the mounting plate 2 is mounted on the fixing groove 3, the connecting block 9 is inserted into the through hole 5 on the limiting plate 4, the inner wall of the through hole 5 extrudes the arc surface of the clamping block 12, so that the clamping block 12 moves towards the inside of the groove 10, the sliding block 11 extrudes the second spring 13, when the clamping block 12 moves to the bottom of the limiting plate 4, the second spring 13 resets to drive the clamping block 12 to move outwards, so that the mounting plate 2 is fixed, the rotating motor 27 rotates to drive the rotating rod 28 to rotate through the starting of the rotating motor 27, the rotating rod 28 rotates to drive the rotating wheel 29 to rotate, so that the lug 30 does circular motion, the circular motion of the lug 30 is matched with the use of the sliding groove 31, so that the moving plate 20 reciprocates up and down, the moving plate 20 reciprocates up and down to drive the moving plate 22 to reciprocate up and down through the sliding rod 19, so that the cleaning cloth 24 reciprocates up and down to clean the mirror surface of the camera body 18, after cleaning, shooting an image of a road area in the advancing direction of a vehicle by a vehicle front-view camera, acquiring an RGB (red, green and blue) color image of a road surface by an image acquisition module, converting the RGB color image into a gray image by an image processing module, acquiring an optimal dynamic threshold value of each frame of image in the gray image by a binarization module, segmenting the image to obtain a binary image, separating a lane line, determining the optimal dynamic threshold value by adopting an adaptive threshold value algorithm according to the intensity of the environment where the vehicle is located, performing edge detection on the binary image by an edge detection module to obtain edge images of inner and outer edges containing the lane line, detecting the lane line in the edge image by a processor by Hough transformation and acquiring lane line parameters, establishing a lane line model, wherein the lane line parameters comprise an included angle of a lane line slope in a vehicle coordinate system, the processor acquires lane position data of the vehicle in a world coordinate system through inverse perspective transformation by using the acquired lane line parameters, and acquires the driving state of the vehicle at the current moment according to the road surface image information, the obstacle position, the lane line and vehicle body distance parameters and the vehicle corner, wherein the driving state comprises left turning, right turning, straight going and stopping; the processor sends a control command to the controller by using the vehicle turning angle and the distance parameter obtained in the step S6 and adopting a sectional type self-adaptive control strategy according to the driving mode of the vehicle; the controller receives a control command of the processor, and controls the driving direction and the driving speed of the vehicle in real time by adjusting parameters of the steering engine and the motor.
Compared with the related art, the vehicle line patrol method based on the robot intelligent vision has the following beneficial effects:
the installation seat 1 is connected with the top of a vehicle, then the installation plate 2 is installed on the fixed groove 3, the connection block 9 is inserted into the through hole 5 on the limit plate 4, the inner wall of the through hole 5 can extrude the cambered surface of the fixture block 12, so that the fixture block 12 moves towards the inside of the groove 10, the sliding block 11 extrudes the second spring 13, when the fixture block 12 moves to the bottom of the limit plate 4, the second spring 13 resets to drive the fixture block 12 to move outwards, so that the installation plate 2 is fixed, the installation is convenient, tools are not needed, the installation time is saved, the installation difficulty is also reduced, through the starting of the rotating motor 27, the rotating motor 27 rotates to drive the rotating rod 28 to rotate, the rotating rod 28 rotates to drive the rotating wheel 29 to rotate, so that the convex block 30 makes circular motion, the convex block 30 makes the circular motion match with the sliding groove 31, so that the moving plate 20 reciprocates up and down, the moving plate 20 reciprocates up and down to drive the moving plate 22 to reciprocate up and down through the sliding rod 19, so that the cleaning cloth 24 reciprocates up and down to clean the mirror surface of the camera body 18, and dust can be prevented from attaching to the mirror surface of the camera body 18 to cause that the shooting is unclear and the accurate acquisition of image information is influenced.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle line patrol method based on robot intelligent vision is characterized by comprising the following steps:
s1: the front-view camera is arranged on the top of the vehicle and is connected with the top of the vehicle through the mounting seat, then the mounting plate is arranged on the fixed groove, the connecting block is inserted into the through hole on the limiting plate, the cambered surface of the clamping block is extruded through the inner wall of the through hole, the clamping block moves towards the inside of the groove, the second spring is extruded through the sliding block, when the clamping block moves to the bottom of the limiting plate, the second spring resets to drive the clamping block to move outwards so as to fix the mounting plate, the rotating motor rotates to drive the rotating rod to rotate through the starting of the rotating motor, the rotating rod rotates to drive the rotating wheel to rotate, so that the lug makes circular motion, the lug circular motion is matched with the use of the sliding groove so as to enable the moving plate to reciprocate up and down, the moving plate can drive the moving plate to reciprocate up and down through the sliding rod, so that the cleaning cloth reciprocates up and down to clean the mirror surface of the camera body, after cleaning, shooting an image of a road area in the advancing direction of the vehicle by a vehicle front-view camera, and acquiring an RGB (red, green and blue) color image of a road surface by an image acquisition module, wherein the RGB color image contains lane line information;
S2: the image processing module converts the RGB color image into a gray image;
s3: the binarization module obtains an optimal dynamic threshold value of each frame of image in the gray level image, performs image segmentation to obtain a binarization image, and separates lane lines, wherein the optimal dynamic threshold value is determined by adopting a self-adaptive threshold algorithm according to the intensity of the environment where the vehicle is located;
s4: the edge detection module carries out edge detection on the binary image to obtain an edge image containing the inner edge and the outer edge of the lane line;
s5: the processor detects a lane line in the edge image by using Hough transform, acquires lane line parameters and establishes a lane line model, wherein the lane line parameters comprise an included angle of a lane line slope in a vehicle coordinate system;
s6: the processor acquires lane position data of the vehicle in a world coordinate system through inverse perspective transformation by using the acquired lane line parameters, and acquires the driving state of the vehicle at the current moment according to the road surface image information, the obstacle position, the lane line and vehicle body distance parameters and the vehicle corner, wherein the driving state comprises left turning, right turning, straight going and stopping;
s7: the processor sends a control command to the controller by using the vehicle turning angle and the distance parameter obtained in the step S6 and adopting a sectional type self-adaptive control strategy according to the driving mode of the vehicle;
S8: the controller receives a control command of the processor, and controls the driving direction and the driving speed of the vehicle in real time by adjusting parameters of the steering engine and the motor.
2. The vehicle line patrol method based on robot smart vision of claim 1, wherein the mounting seat and the mounting plate in S1 are fixedly connected with a fixed groove at the top of the mounting seat, a limiting plate is fixedly connected between two sides of the inner wall of the fixed groove, a through hole is formed in the limiting plate, sliding plates are slidably connected to two sides of the bottom of the inner wall of the fixed groove, pull rods are fixedly connected to two sides of the sliding plates which are away from each other, one end of each pull rod penetrates through the fixed groove and extends to the outside of the fixed groove, a first spring is arranged between one side of each sliding plate which is away from each other and two sides of the inner wall of the fixed groove, a connecting block is fixedly connected to the bottom of the mounting plate, two grooves are formed in the connecting block, and sliding blocks are slidably connected between the top and the bottom of the inner wall of each groove, two the equal fixedly connected with fixture block in one side that the sliding block leaves mutually, two one side that the sliding block is relative with all be provided with the second spring between the inner wall of recess.
3. The robot intelligent vision based vehicle line patrol method according to claim 2, wherein the bottoms of both of the two blocks are arc-shaped structures.
4. The vehicle line patrol method based on robot intelligent vision according to claim 2, wherein a jacking structure is arranged at the bottom of the inner wall of the fixing groove, the jacking structure comprises a bottom plate, the bottom of the bottom plate is fixed at the bottom of the inner wall of the fixing groove, a telescopic rod is fixedly connected to the top of the bottom plate, a top plate is fixedly connected to the top end of the telescopic rod, and a third spring is arranged between the top plate and the side opposite to the bottom plate.
5. The vehicle line patrol method based on robot intelligent vision of claim 2, wherein both sides of the fixing groove are fixedly connected with limiting grooves, and both sides of the bottom of the mounting plate are fixedly connected with anti-dropping plates.
6. The vehicle line patrol method based on robot intelligent vision of claim 2, wherein a protective frame is fixedly connected to the top of the mounting plate, and a camera body is fixedly connected to the bottom of the inner wall of the protective frame.
7. The vehicle line patrol method based on the robot intelligent vision of claim 6, wherein sliding rods are slidably connected to two sides of the top of the protection frame, a moving plate is fixedly connected between the top ends of the two sliding rods, and a sliding groove is formed in the moving plate.
8. The vehicle line patrol method based on intelligent robot vision according to claim 7, wherein the bottom ends of the two sliding rods both penetrate through the protection frame and extend to the inside of the protection frame, a moving plate is fixedly connected between the bottom ends of the two sliding rods, and a first magic tape is arranged on the back of the moving plate.
9. The vehicle line patrol method based on robot smart vision according to claim 8, further comprising a cleaning cloth, wherein a second magic tape is arranged on the front surface of the cleaning cloth, and the cleaning cloth is connected to the back surface of the sports board through the second magic tape and the first magic tape.
10. The vehicle line patrol method based on intelligent vision of a robot as recited in claim 6, wherein a fixing plate is fixedly connected to the top of said protection frame, a rotating motor is fixedly connected to the back of said fixing plate through a motor base, an output shaft of said rotating motor is fixedly connected with a rotating rod, one end of said rotating rod penetrates through said fixing plate and extends to the front of said fixing plate, said rotating rod extends to one end of the front of said fixing plate and is fixedly connected with a rotating wheel, and a projection is fixedly connected to the front of said rotating wheel.
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| CN202010901777.0A CN112644398B (en) | 2020-09-01 | 2020-09-01 | Vehicle line patrol method based on robot intelligent vision |
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