Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Tracking method and unmanned electric motor sweeper
The invention provides a tracing method and an unmanned electric sweeper. The method comprises the following steps: acquiring a track image during running in real time; detecting the edge of the preset route, and calculating the centroid of the track contour according to an edge detection result; the position corresponding to the mass center is compared with the position corresponding to the center point, the movement direction is corrected according to the comparison result, and the unmanned electric sweeper comprises an electric vehicle module, a tracing module, a garbage recognition module and a clearing and transporting module. According to the method, the center point in the track image and the mass center of the preset route are tracked, the track image is obtained through the cameras, the view field range is wide, the requirement for the ductility of the vehicle body is low, the view field range is wide, the tracking precision can be improved to a certain degree, the number of the cameras is small, and the tracking precision is high. Relatively speaking, the processed data volume is relatively reduced, the data processing speed is high, the influence of external illumination and temperature is avoided, the stability is good, and the application requirements in different scenes can be better met.
本发明提供了一种寻迹方法及无人电动清扫车，其方法包括：实时获取运行时的轨迹影像；对预设路线的边缘进行检测，根据边缘检测结果计算出轨迹轮廓的质心；将质心对应的位置和中心点对应的位置进行比较，根据比较结果对运动方向进行修正，其无人电动清扫车包括电动车模块、寻迹模块、垃圾识别模块和清运模块。本发明，通过对轨迹影像中的中心点和预设路线的质心进行寻迹，轨迹影像的获取是通过摄像头进行获取，其视野范围广，对车身的延展性要求低，视野范围广还能够一定程度上提升寻迹的精度，摄像头数量较少，相对来说处理的数据量也会相对减少，数据的处理速度快，不会受到外部光照和温度的影响，稳定性好，更能满足不同场景下的应用需求。
Tracking method and unmanned electric motor sweeper
The invention provides a tracing method and an unmanned electric sweeper. The method comprises the following steps: acquiring a track image during running in real time; detecting the edge of the preset route, and calculating the centroid of the track contour according to an edge detection result; the position corresponding to the mass center is compared with the position corresponding to the center point, the movement direction is corrected according to the comparison result, and the unmanned electric sweeper comprises an electric vehicle module, a tracing module, a garbage recognition module and a clearing and transporting module. According to the method, the center point in the track image and the mass center of the preset route are tracked, the track image is obtained through the cameras, the view field range is wide, the requirement for the ductility of the vehicle body is low, the view field range is wide, the tracking precision can be improved to a certain degree, the number of the cameras is small, and the tracking precision is high. Relatively speaking, the processed data volume is relatively reduced, the data processing speed is high, the influence of external illumination and temperature is avoided, the stability is good, and the application requirements in different scenes can be better met.
本发明提供了一种寻迹方法及无人电动清扫车，其方法包括：实时获取运行时的轨迹影像；对预设路线的边缘进行检测，根据边缘检测结果计算出轨迹轮廓的质心；将质心对应的位置和中心点对应的位置进行比较，根据比较结果对运动方向进行修正，其无人电动清扫车包括电动车模块、寻迹模块、垃圾识别模块和清运模块。本发明，通过对轨迹影像中的中心点和预设路线的质心进行寻迹，轨迹影像的获取是通过摄像头进行获取，其视野范围广，对车身的延展性要求低，视野范围广还能够一定程度上提升寻迹的精度，摄像头数量较少，相对来说处理的数据量也会相对减少，数据的处理速度快，不会受到外部光照和温度的影响，稳定性好，更能满足不同场景下的应用需求。
Tracking method and unmanned electric motor sweeper
寻迹方法及无人电动清扫车
LOU TIANYU (Autor:in)
21.04.2023
Patent
Elektronische Ressource
Chinesisch