Background technology
When traditional electro-mechanical product introduces electronic technology, computer technology and automatic control technology, with regard to shapeBecome so-called a new generation electromechanical integrated product.Typical electromechanical integrated product embodies machinery skillThe combination of art, electronic technology, computer technology etc., several multiple new and high technologies, and multipleFunction integrates, and commercially has extremely strong competitiveness.Electromechanical integration is mechanical, micro-The multi-disciplinary mixing together such as electronics, control, computer, information processing, play development and progress and depend onProgress and development in correlation technique.Its main development direction be digitlization, intellectuality, modularization,Networking, hommization, miniaturization, integrated, band source and greenization.Electronic product high-performance oneAs comprise at a high speed, in high precision, high efficiency and high reliability, artificial intelligence is in electromechanical integration technologyResearch day by day paid attention to, the intellectuality of robot is exactly the important application of electromechanical integration technology.
Inspection robot is the one of robot, and producing of Intelligent patrol robot has going through of many decadesHistory, he is commonly used by people in the industrial detection of the race of various robots and predefined paths.Intelligent line patrolling machineDevice people is for specific place, finds the localization method of applicable its own mechanical feature, by constantlyAdjust and arrive target, be finally completed the task of setting.How to use succinct, quick, stable controlMethod and detection equipment are the keys of robot.He is the guiding placing pre-set color on dark groundLine, such as white, feature be ground must be sharp contrast with guide line.Robot passes through sensorTracking, reflection line walking information is until CPU sends interrupt requests and stops tracking in real time.General factory is notMay absolute clear, in order to avoid robot collsion damage, robot need to have the ability of keeping in obscurity andThe function that terminal stops.
But, Intelligent patrol robot of the prior art, several infrared ray fax is the most only setSense unit is used for detecting line walking, the highest to the detection efficiency of line walking, has had a strong impact on inspection robot and has chased afterSeek walking of line walking, meanwhile, lack detection target and the treatment mechanism treated respectively of barrier,Also cannot formulate different schemes of dodging according to the size of barrier, thus cause rear to control platform pairThe operation of inspection robot is the most frequent.
Accordingly, it would be desirable to a kind of new inspection robot control program, it is possible to increase patrolling of inspection robotLine efficiency, it is ensured that robot follows strictly desired trajectory walking, it addition, be capable of objects aheadType identification and Dimensions recognition, automatically to carry out different predetermined registration operation according to recognition result, reduceRear controls the workload of platform.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of inspection robot control based on image recognitionSystem processed, increases more infrared ray photoelectric sensing unit to improve line walking precision, uses ultrasonic wave to passSensor is to detect objects ahead distance, and in the case of objects ahead distance is shorter, side starts imageCollecting device and image processing equipment realize target type discrimination to the forward image collected, thus determineDetermine the operator scheme of inspection robot, reduce rear and control the artificial intervention of platform, improve line walking machineTask efficiency.
According to an aspect of the present invention, it is provided that a kind of inspection robot based on image recognition controls systemSystem, described control system include motor-drive circuit, infrared ray electric transducer, high-definition camera equipment,Image processing equipment and Freescale IMX6 processor, described infrared ray electric transducer is used for detectingLine walking track, described high-definition camera equipment is for gathering the forward image of described inspection robot, describedImage processing equipment is for carrying out image procossing to described forward image, at described Freescale IMX6Reason device is connected with described infrared ray electric transducer and described image processing equipment, respectively with based on line walkingTrack detection result and processing result image control described motor-drive circuit, and described line walking is for being arranged onThe ground guiding band with pre-set color.
More specifically, in described inspection robot control system based on image recognition, described controlSystem also includes ultrasonic sensor, is positioned at the dead ahead of described inspection robot, sends out including ultrasonic wavePenetrate unit, ultrasonic wave receives unit and ALU, and described ultrasonic transmitting element is used for launchingUltrasonic wave, described ultrasonic wave receives unit and is used for receiving the ultrasonic wave reflected through objects ahead,Described ALU receives unit with described ultrasonic transmitting element and described ultrasonic wave and connects respectivelyConnect, receive time difference and propagation speed of ultrasonic waves for launching based on ultrasonic wave, calculate objects ahead away fromTarget range from described inspection robot；Storage device, has prestored target signature categorical dataStorehouse, described target signature types of database saves the target signature that each target type is corresponding, instituteState storage device and also prestore target upper limit gray threshold, target lower limit gray threshold, predetermined meshSubject distance threshold value, expection detection target type, goal-selling height threshold and goal-selling length threshold,Described target upper limit gray threshold and described target lower limit gray threshold for by the target in image andBackground separation；Described infrared ray electric transducer is arranged on the bottom of described inspection robot, by two rowsPhotoelectric sensing unit forms, and described two row's photoelectric sensing unit are separately positioned on described inspection robot rowWalk the both sides in direction, each photoelectric sensing unit output low level when line walking being detected, do not examiningOutput high level when measuring line walking；Described high-definition camera equipment be arranged on described inspection robot just beforeSide；Described image processing equipment is by image pre-processing unit, image segmentation unit, image identification unitForming with dimension calculating unit, described image pre-processing unit connects described high-definition camera equipment, is used forDescribed forward image is carried out successively picture superposition and image wavelet filtering, to export pretreatmentImage, described image segmentation unit is connected with described image pre-processing unit, for by described pretreatmentGray value pixel identification between target upper limit gray threshold and target lower limit gray threshold in imageAnd form target subgraph, divide out from described pretreatment image by described target subgraph, instituteState image identification unit to be connected respectively with described image segmentation unit and described storage device, be used for identifyingTarget signature in described target subgraph, and by the target signature recognized and described target signature classThe target signature that target type is corresponding each of in type database is mated, and recognizes to findThe objects ahead type corresponding to target signature, the segmentation of described dimension calculating unit and described image is singleUnit connects, for calculating object height and target length based on described target subgraph；Radio communication connectsMouthful, control platform wireless connection with far-end, lead to for carrying out two-way signaling with described far-end control platformLetter；Described Freescale IMX6 processor and described infrared ray electric transducer, described image procossingEquipment, described ultrasonic sensor, described storage device, described high-definition camera equipment and described motorDrive circuit connects respectively, based on each photoelectric sensing unit defeated in described infrared ray electric transducerGo out the driving direction of motor-drive circuit described in Automatic level control；Described Freescale IMX6 processor existsWhen described target range is less than or equal to predeterminated target distance threshold, start described high-definition camera equipment and instituteState image processor, and when described objects ahead type unexpected detection target type, start obstacleThing dodges pattern, when described objects ahead type is expection detection target type, starts at robotReason pattern；Wherein, dodging in pattern at described barrier, described Freescale IMX6 processor existsDescribed object height is less than or equal to goal-selling height threshold, sends leap to described motor-drive circuitInstruction, is less than or equal to pre-at described object height more than goal-selling height threshold and described target lengthIf during target length threshold value, send, to described motor-drive circuit, instruction of detouring, at described object heightWhen being more than goal-selling length threshold more than goal-selling height threshold and described target length, to describedMotor-drive circuit sends wait instruction, and sends demand modeling signal to wireless communication interface；InstituteStating in robot tupe, described Freescale IMX6 processor receives by described radio communicationInterface forwards, described far-end controls the control signal of platform, to control described inspection robot to frontSquare mesh target operates.
More specifically, in described inspection robot control system based on image recognition, described storageEquipment, described image processing equipment and described Freescale IMX6 processor are all located at described line walking machineIn the case nose of device people, described wireless communication interface is positioned at the case nose of described inspection robotOn.
More specifically, in described inspection robot control system based on image recognition, described controlSystem also includes DC Brushless Motor, is connected with described motor-drive circuit, drives at described motorPower is provided for described crusing robot under the control of circuit.
More specifically, in described inspection robot control system based on image recognition, described two rowsIn photoelectric sensing unit, often the quantity of row's photoelectric sensing unit is equal, is 10.
More specifically, in described inspection robot control system based on image recognition, described high definitionThe resolution ratio of the forward image that picture pick-up device is gathered is 1280 × 720.
Detailed description of the invention
Below with reference to accompanying drawings to the inspection robot control system based on image recognition of the present inventionEmbodiment is described in detail.
Inspection robot, refers to move robot as carrier, with visible light camera, infraredThermal imaging system, other detecting instruments are as load system, with machine vision-electromagnetic field-GPS-GIS'sMany information fusion are as robot autonomous movement and the navigation system independently patrolled and examined, with embedding assemblyMachine is as the hardware and software development platform of control system.Inspection robot has detection of obstacles, independently makeesIndustry planning, active obstacle, transmission line of electricity and line corridor thereof are independently patrolled and examined, patrol and examine image and dataRobot body automatically store and long range radio transmissions, ground remote wireless monitoring and remote control, electric energyThe functions such as job management and analyzing and diagnosing are patrolled and examined on online supply in real time, backstage.
When relating to the control system of inspection robot, should be noted that following some.
First, in order to this robot may be used for different occasion, the color of guide line needs and groundColor becomes sharp contrast, the sensor of selection, it has to be possible to reliably identify light color guide line with deepLook floor.Because sensor is the eyes of robot, need the good sensor of Selection effect, abilityTo robot a pair of bright eyes, send the low and high level detected to control system.
Secondly, it is that the placement strategy of sensor is formulated.During placement sensor, need to examineConsider the profile to robot chassis and driving method, fully take into account robot and be likely encountered when advancingVarious situations, be in course of adjustment and all the sensors whether may be allowed to deviate from detection object, makeObtain line walking failure.Robot to be considered directly is walked and the issuable various situations of state such as turning.
Further, the master controller selecting to be suitable for is needed.Because the input quantity of master controller is except being used for patrollingBeyond the photo-sensor signal of line, also include detecting the presence of barrier and whether with ultrasonic sensorArrive at；Output quantity is mainly motor needs the number etc. of the control signal provided.Except portOutside the requirement selected, the speed of service that also should meet master controller is higher, processes information stable in time,And the development environment of close friend.
The inspection robot control system based on image recognition of the present invention, it is possible to control described exactlyRobot advances in strict accordance with line walking, uses target identification technology based on image procossing simultaneously, it is possible toThe operation scheme of robot is determined intelligently according to objects ahead type, and, only pass at ultrasonic waveSensor detects when objects ahead is in preset distance, just starts target identification, subtracts for crusing robotLack power consumption.
Fig. 1 is to control system according to the inspection robot based on image recognition shown in embodiment of the present inventionThe block diagram of system, described control system includes ultrasonic sensor 1, infrared ray electric transducer2, high-definition camera equipment 3, image processing equipment 4, Freescale IMX6 processor 5, motor driveDynamic circuit 6, storage device 7, wireless communication interface 8 and power supply unit 9, described Freescale IMX6Processor 5 and described ultrasonic sensor 1, described infrared ray electric transducer 2, described high definition are taken the photographAs equipment 3, described image processing equipment 4, described Freescale IMX6 processor 5, described motorDrive circuit 6, described storage device 7, described wireless communication interface 8 and described power supply unit 9 pointsDo not connect.Described motor-drive circuit 6 is described to control for the motor driving described inspection robotThe route of inspection robot.Described power supply unit 9 is used for as described inspection robot control systemOffer power supply is supplied.
Then, the structure of the inspection robot control system of the present invention is carried out more specific description.
Described ultrasonic sensor 1, is positioned at the dead ahead of described inspection robot, sends out including ultrasonic wavePenetrate unit, ultrasonic wave receives unit and ALU, and described ultrasonic transmitting element is used for launchingUltrasonic wave, described ultrasonic wave receives unit and is used for receiving the ultrasonic wave reflected through objects ahead,Described ALU receives unit with described ultrasonic transmitting element and described ultrasonic wave and connects respectivelyConnect, receive time difference and propagation speed of ultrasonic waves for launching based on ultrasonic wave, calculate objects ahead away fromTarget range from described inspection robot.
Described infrared ray electric transducer 2, is used for detecting line walking track, and described line walking is for being arranged on groundThe guiding band with pre-set color on face, described infrared ray electric transducer 2 be arranged on described in patrolThe bottom of line robot, is made up of two row's photoelectric sensing unit, and described two row's photoelectric sensing unit are respectivelyBeing arranged on the both sides in described travelling robot walking direction, each photoelectric sensing unit patrols detectingOutput low level during line, exports high level when being not detected by line walking.
Described high-definition camera equipment 3, for gathering the forward image of described inspection robot, is arranged on instituteState the dead ahead of inspection robot.
Described image processing equipment 4 is connected with described high-definition camera equipment 3, described image processing equipment4 are made up of image pre-processing unit, image segmentation unit, image identification unit and dimension calculating unit,Described image pre-processing unit connects described high-definition camera equipment 3, for described forward image successivelyCarrying out picture superposition and image wavelet filtering, to export pretreatment image, described image is splitUnit is connected with described image pre-processing unit, is used for gray value in described pretreatment image in targetPixel identification between upper limit gray threshold and target lower limit gray threshold also forms target subgraph, willDescribed target subgraph divides out from described pretreatment image, and described image identification unit is with describedImage segmentation unit and described storage device 7 connect respectively, for identifying in described target subgraphTarget signature, and by the target signature that recognizes with each of in described target signature types of databaseTarget signature corresponding to target type is mated, to find corresponding to the target signature recognizedObjects ahead type, described dimension calculating unit is connected with described image segmentation unit, for based on instituteState target subgraph and calculate object height and target length.
Described storage device 7 has prestored target signature types of database, described target signature classType database saves the target signature that each target type is corresponding, and described storage device 7 is the most in advanceStore target upper limit gray threshold, target lower limit gray threshold, predeterminated target distance threshold, expectionDetection target type, goal-selling height threshold and goal-selling length threshold, described target upper limit ashDegree threshold value is used for separating the target and background in image with described target lower limit gray threshold.
Described wireless communication interface 8 controls platform wireless connection with far-end, for controlling with described far-endPlatform carries out bi-directional signal communication.
The control of described Freescale IMX6 processor 5 includes, senses based on described infrared ray photoelectricIn device 2, the output level of each photoelectric sensing unit controls the driving side of described motor-drive circuit 6To.
Described Freescale IMX6 processor 5 is less than or equal to predetermined in the described target range receivedDuring target range threshold value, start described high-definition camera equipment 3 and described image processing equipment 4, describedFreescale IMX6 processor 5 is in described high-definition camera equipment 3 and described image processing equipment 4 workAfter work, when described objects ahead type unexpected detection target type, start barrier and dodge pattern,When described objects ahead type is expection detection target type, start robot tupe.
Wherein, dodging in pattern at described barrier, described Freescale IMX6 processor 5 is in instituteState object height and be less than or equal to goal-selling height threshold, send leap to described motor-drive circuit 6Instruction, is less than or equal to pre-at described object height more than goal-selling height threshold and described target lengthIf during target length threshold value, send, to described motor-drive circuit 6, instruction of detouring, high in described targetWhen degree is more than goal-selling length threshold more than goal-selling height threshold and described target length, to instituteState motor-drive circuit 6 and send wait instruction, and send demand modeling signal to wireless communication interface 8；In described robot tupe, described Freescale IMX6 processor 5 receives by described nothingLine communication interface 8 forwards, described far-end controls the control signal of platform, to control described line walking machineThe device people operation to objects ahead.
Wherein, selection based on user, described storage device 7, described image processing equipment 4 and instituteState in the case nose that Freescale IMX6 processor 5 each may lie in described inspection robot, instituteStating wireless communication interface 8 and can be located on the case nose of described inspection robot, described control system is alsoDC Brushless Motor can be included, be connected with described motor-drive circuit 6, drive at described motorPower is provided for described crusing robot under the control of circuit 6, in described two row's photoelectric sensing unit,Often the quantity of row's photoelectric sensing unit is equal, all elects 10 as, and described high-definition camera equipment 3 is adoptedThe resolution ratio of the forward image of collection can be 1280 × 720.
It addition, ultrasonic sensor 1 is the sensor utilizing the characteristic of ultrasonic wave to develop.UltrasonicRipple is a kind of vibration frequency mechanical wave higher than sound wave, transducing wafer shake under the excitation of voltageMovable property is raw, and he has that frequency is high, wavelength is short, diffraction phenomenon is little, particularly good directionality, canBecome ray and the features such as direction propagation.Ultrasonic wave is very big, especially to the penetrating power of liquid, solidIt is that he can penetrate the degree of depth of tens meters in the opaque solid of sunlight.Ultrasonic wave is encountered impurity or dividesInterface can produce significantly to reflect to form and be reflected into echo, encounters live animal physical efficiency and produces Doppler effect.Therefore ultrasound examination is widely used in the aspects such as industry, national defence, biomedicine.
Ultrasonic probe is mainly made up of piezoelectric chip, both can launch ultrasonic wave, it is also possible to receive superSound wave.Small-power ultrasonic probe many works detection effect.He can have many different structures, can divide straightProbe (compressional wave), angle probe (shear wave), surface wave probe (surface wave), Lamb wave probe (orchidNurse ripple), dual probe (one probe launch, one probe receive) etc..The core of ultrasonic probe isOne piece of piezoelectric chip in its plastic wrapper or metal-coating.The material constituting wafer can have manyKind.The size of wafer, as the most different in diameter and thickness, the performance not phase of the most each probeWith.
It addition, the IMX6 processor 5 of Freescale is high expansion based on ARM Cortex-A9 frameworkMalleability multinuclear serial application processor, according to the difference of application scenario, it is provided that alternative monokaryon,Double-core and four nucleus products are for customer selecting.Monokaryon, double-core and the four core embodiments of IMX6 series are realHaving showed hardware expansible, software and pin are completely compatible.IMX 6 four core series is by providing operation speedDegree reaches the kernel of four ARM Cortex-A9 of 1.2GHz, and combines integrated 3D figure listUnit and 1080p coding/decoding video engine, provide power management function to support 350mW simultaneously1080p video playback, thus solve polycaryon processor cannot under scene powered by battery shouldWith.IMX6 have employed 40 nanometer technology processing procedures of maturation, has 1MB L2 cache, supports 1080P60fps decodes, and can carry out 1080P 30fps coding, simultaneously can also be under high definition patternPlaying 3D video, he can also manage the dual camera for 3D stereoscopic shooting simultaneously, has solelyVertical 2D and summit accelerating engine.
Use the inspection robot control system based on image recognition of the present invention, for existing line walking machineDevice people's control system cannot be carried out high accuracy line walking and the highest technical problem of object recognition intelligenceization,Increase multiple photoelectric sensing unit to improve line walking precision, increase image procossing skill based on image recognitionArt, carries out detection of obstacles target differentiation, barrier size detection etc. and processes, for patrolling objects aheadLine robot provides more reference datas, in order to inspection robot takes different counter-measure, thusReduce far-end and control the artificial intervention of platform.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcementExample is not limited to the present invention.For any those of ordinary skill in the art, without departing fromUnder technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present inventionScheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above exampleAny simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protectionIn the range of.