NL2024662B1 - Machine vision-based robot line-tracking navigation system - Google Patents

Machine vision-based robot line-tracking navigation system Download PDF

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Publication number
NL2024662B1
NL2024662B1 NL2024662A NL2024662A NL2024662B1 NL 2024662 B1 NL2024662 B1 NL 2024662B1 NL 2024662 A NL2024662 A NL 2024662A NL 2024662 A NL2024662 A NL 2024662A NL 2024662 B1 NL2024662 B1 NL 2024662B1
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line
module
obstacle
machine vision
image analysis
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NL2024662A
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Dutch (nl)
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Han Tao
Yourui Huang
Xu Shanyong
Liuyi Ling
Tang Chaoli
Xu Jiachang
Bao Shishui
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Univ Anhui Sci & Technology
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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
    • 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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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention discloses a machine vision—based robot line—tracking navigation system, and belongs to the field of robot control systems. The machine vision—based robot line—tracking navigation system includes a machine vision module, 5 an information input module, an image analysis module, a main controller and a steering driver. The machine vision module acquires an environment image surrounding a robot, a course marking line and a navigation line, and outputs the environment image, the course marking line and the navigation line to the image analysis module. The image analysis module measures a distance and an included angle between the course 10 marking line and the navigation line, and outputs the distance and the included angle to the main controller. Meanwhile, the image analysis module analyzes and judges Whether an obstacle exits in the environment image, and outputs a judging result to the main controller. The main controller includes a line—tracking correction module and an obstacle avoidance control module. Compared With the prior art, the robot obstacle 15 avoidance system of the present invention is applicable to robots With different shapes, and can realize continuous obstacle avoidance according to maneuvering characteristics of the robot. 2024662

Description

MACHINE VISION-BASED ROBOT LINE-TRACKING NAVIGATION SYSTEM
BACKGROUND Technical Field The present invention relates to the field of robot control, in particular to a machine vision-based robot line-tracking navigation system.
Related Art Line-tracking navigation is a common robot navigation method. A principle is that a navigation line is set on the ground, and a robot recognizes the navigation line and moves along the navigation line. By the use of a color sensor for recognition, an existing robot line-tracking navigation system has a small recognition range, and cannot recognize obstacles.
SUMMARY For deficiencies in the prior art, the present invention provides a machine vision-based robot line-tracking navigation system, which recognizes a navigation line through machine vision and recognizes and avoids obstacles.
The objective of the present invention may be implemented through the following technical solutions: A machine vision-based robot line-tracking navigation system includes a machine vision module, an information input module, an image analysis module, a main controller and a steering driver.
The machine vision module acquires an environment image surrounding a robot, a course marking line and a navigation line, and outputs the environment image, the course marking line and the navigation line to the image analysis module. The course marking line is consistent with a forward motion direction of the robot.
The image analysis module measures a distance and an included angle between the course marking line and the navigation line, and outputs the distance and the included angle to the main controller. Meanwhile, the image analysis module analyzes and judges whether an obstacle exits in the environment image, and outputs a judging result to the main controller.
The main controller includes a line-tracking correction module and an obstacle avoidance control module. When the image analysis module judges that no obstacle exists, the line-tracking correction module controls the steering driver to reduce the distance and the included angle between the marking line and the navigation line. When the image analysis module judges that an obstacle exists, the obstacle avoidance control module adjusts the steering driver to avoid the obstacle.
Further, the image analysis module recognizes an obstacle contour, and transmits the obstacle contour to the obstacle avoidance control module, and the obstacle avoidance control module biases the obstacle contour to the outside of the obstacle to obtain an obstacle avoidance path. The obstacle avoidance control module controls the steering driver, so that the robot moves along the obstacle avoidance path.
Further, the obstacle avoidance control module receives and stores a preset safety distance, and a biased distance is equal to the safety distance.
Further, a proportion integration differentiation (PID) control module is also included. An angle sensor for measuring a rotation angle of the steering driver is arranged on the steering driver. The PID control module receives a control signal output by the line-tracking correction module, subtracts a feedback signal of the angle sensor, and outputs a signal to the steering driver.
The present invention has the following beneficial effects: The robot line-tracking navigation system of the present invention recognizes the navigation line on the ground through the arrangement of the machine vision module, and the machine vision module is also configured to recognize the obstacle in the path; and the obstacle avoidance control module controls the steering driver to turn according to the position and contour of the obstacle, so as to avoid the obstacle.
BRIEF DESCRIPTION OF THE DRAWINGS The present invention is further described below with reference to the accompanying drawings.
FIG. 1 1s a schematic structural diagram of a robot line-tracking navigation system of the present invention.
DETAILED DESCRIPTION The following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments instead of all embodiments of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
Referring to FIG. 1, a machine vision-based robot line-tracking navigation system includes a machine vision module 1, an information input module, an image analysis module 2, a main controller 3 and a steering driver 4.
The machine vision module 1 acquires an environment image surrounding a robot, a course marking line and a navigation line, and outputs the environment image, the course marking line and the navigation line to the image analysis module 2. The course marking line is consistent with a forward motion direction of the robot.
The image analysis module 2 measures a distance and an included angle between the course marking line and the navigation line, and outputs the distance and the included angle to the main controller 3. Meanwhile, the image analysis module 2 analyzes and judges whether an obstacle exits in the environment image, and outputs a judging result to the main controller 3.
The main controller 3 includes a line-tracking correction module 31 and an obstacle avoidance control module 32. When the image analysis module 2 judges that no obstacle exists, the line-tracking correction module 31 controls the steering driver 4 to reduce the distance and the included angle between the marking line and the navigation line. When the image analysis module 2 judges that an obstacle exists, the obstacle avoidance control module 32 adjusts the steering driver 4 to avoid the obstacle.
That is, the robot line-tracking navigation system of the present invention may be applied to line-tracking detection through the arranged machine vision module 1, and may monitor whether an obstacle exists on a motion path. If an obstacle appears, the obstacle avoidance control module 32 controls the steering driver 4 to turn to avoid the obstacle. After the robot crosses the obstacle, that is, after the machine vision module 1 detects no obstacle, the obstacle avoidance control module 32 stops outputting a control signal, and the line-tracking correction module 31 is recovered for control, so that the robot re-approaches the navigation line.
Further, the image analysis module 2 recognizes an obstacle contour, and transmits the obstacle contour to the obstacle avoidance control module 32, and the obstacle avoidance control module 32 biases the obstacle contour to the outside of the obstacle to obtain an obstacle avoidance path. The obstacle avoidance control module 32 controls the steering driver, so that the robot moves along the obstacle avoidance path. The obstacle avoidance control module 32 receives and stores a preset safety distance, and a biased distance is equal to the safety distance.
In addition, the robot line-tracking navigation system of the present invention also includes a proportion integration differentiation (PID) control module 6. An angle sensor 5 for measuring a rotation angle of the steering driver is arranged on the steering driver 4. The PID control module 6 receives a control signal output by the line-tracking correction module 31, subtracts a feedback signal of the angle sensor 5, and outputs a signal to the steering driver 4. Through the arrangement of the PID control module 6, a control signal of the steering driver 4 may be adjusted according to real-time feedback of the steering driver 4, so that a steering angle is closer to a desired value.
The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the foregoing embodiments, descriptions in the foregoing embodiments and the specification merely describe the principles of the present invention, various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements shall all fall within the protection scope of the present invention.

Claims (4)

CONCLUSIESCONCLUSIONS 1. Een op machine-vision gebaseerd robot lijnvolgnavigatiesysteem, omvattende een machine-vision module, een gegevensinvoermodule, een beeldanalysemodule, een hoofdbesturingsinrichting (main controller) en een stuuraandrijving, waarbij 5 de machine-vision module een omgevingsbeeld om een robot, een trajectmarkeringslijn en een navigatielijn verkrijgt, en het omgevingsbeeld, de trajectmarkeringslijn en de navigatielijn uitvoert naar de beeldanalysemodule; en de trajectmarkeringslijn overeenkomt met een voorwaartse bewegingsrichting van de robot; de beeldanalysemethode een afstand en een ingesloten hoek tussen de trajectmarkeringslijn en de navigatielijn meet en de afstand en de ingesloten hoek naar de hoofdbesturingsinrichting uitvoert, en de beeldanalysemodule analyseert en beoordeelt of er zich een obstakel in het omgevingsbeeld bevindt, en een beoordelingsresultaat naar de hoofdbesturingsinrichting uitvoert; de hoofdbesturingsinrichting een lijnvolgcorrectiemodule en een obstakelvermijdregelmodule omvat; wanneer de beeldanalysemodule beoordeelt dat er geen obstakels is, bestuurt de lijnvolgcorrectiemodule de stuuraandrijving om de afstand en de ingesloten hoek tussen de markeringslijn en de navigatielijn te verkleinen; en als de beeldanalysemodule oordeelt dat er een obstakel is, past de obstakelvermijdbestuurmodule de stuuraandrijving on het obstakel te vermijden.1. A machine vision based robotic line following navigation system, comprising a machine vision module, a data entry module, an image analysis module, a main controller and a steering drive, wherein the machine vision module has an environmental image around a robot, a trajectory marker line and acquires a navigation line, and outputs the scenery image, the trajectory marker line and the navigation line to the image analysis module; and the trajectory marker line corresponds to a forward movement direction of the robot; the image analysis method measures a distance and an included angle between the trajectory marker line and the navigation line and outputs the distance and the included angle to the main controller, and the image analysis module analyzes and judges whether there is an obstacle in the scene image, and outputs an assessment result to the main controller ; the main controller includes a line tracking correction module and an obstacle avoidance control module; when the image analysis module judges that there are no obstacles, the line following correction module controls the steering drive to reduce the distance and included angle between the marker line and the navigation line; and if the image analysis module judges that there is an obstacle, the obstacle avoidance control module adjusts the steering drive to avoid the obstacle. 2. Het op machine-vision gebaseerd robot lijnvolgnavigatiesysteem volgens conclusie 1, waarbij de beeldanalysemodule een obstakelcontour detecteert, en het obstakelcontour naar de obstakelvermijdbestuurmodule stuurt, en de obstakelvermijdbestuurmodule het obstakelcontour naar de buitenzijde van het obstakel verplaatst om een obstakelvermijdpad te verkrijgen, en de obstakelvermijdbestuurmodule de stuuraandrijving bestuurt zodat de robot beweegt langs het obstakelvermijdtraject.The machine vision-based robotic line following navigation system according to claim 1, wherein the image analysis module detects an obstacle contour, and sends the obstacle contour to the obstacle avoidance control module, and the obstacle avoidance control module moves the obstacle contour to the outside of the obstacle to obtain an obstacle avoidance path, and the obstacle avoidance control module controls the steering drive so that the robot moves along the obstacle avoidance trajectory. 3. Het op machine-vision gebaseerd robot lijnvolgnavigatiesysteem volgens conclusie 2, waarbij de obstakelvermijdbestuurmodule een vooraf ingestelde veiligheidsafstand ontvangt en opslaat, en de verplaats afstand is gelijk aan de veiligheidsafstand.The machine vision based robotic line following navigation system according to claim 2, wherein the obstacle avoidance control module receives and stores a preset safety distance, and the moving distance is equal to the safety distance. 4. Het op machine-vision gebaseerd robot lijnvolgnavigatiesysteem volgens conclusie 1, verder omvattende een proportioneel integrerende en differentiérende ( PID) regelmodule, waarbij een hoeksensor voor het meten van een rotatiehoek van de stuuraandrijving is voorzien op de stuuraandrijving en de PID-regelmodule een stursignaal uitgevoerd door de lijnvolgcorrectiemodule ontvangt, een terugkoppelsignaal van de hoeksensor aftrekt, en een signaal uitvoert naar de stuuraandrijving.The machine vision based robotic line following navigation system according to claim 1, further comprising a proportional integrating and differentiating (PID) control module, wherein an angle sensor for measuring an angle of rotation of the steering drive is provided on the steering drive and the PID control module provides a steering signal. output by the line tracking correction module, subtracts a feedback signal from the angle sensor, and outputs a signal to the steering drive.
NL2024662A 2019-12-04 2020-01-13 Machine vision-based robot line-tracking navigation system NL2024662B1 (en)

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