A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Road marking robot control method and system
The invention discloses a road marking robot control method and system. A front road image of a marking robot is collected; the collected front road image is preprocessed; performing image segmentation processing on the preprocessed front road image; for the segmented image, road edges are screened by using a straight line detection algorithm; for the screened road edges, calculating the shortest distance between the center point of the marking robot and the road edges by adopting a binocular distance measurement algorithm, controlling the moving direction of the marking robot according to the calculated shortest distance, starting road marking operation after the marking robot moves, and meanwhile, controlling the marking robot to move. The shortest distance between the center point of the marking robot and the road edge is always equal to a set value; and a high-definition camera of the marking robot collects the marked image in real time, identifies the marked image, identifies the marked line in the image, judges whether the marking robot deviates or not, and controls the moving direction of the marking robot if the marking robot deviates.
本发明公开了道路划线机器人控制方法及系统，采集划线机器人的前方道路图像；对采集的前方道路图像进行预处理；对预处理后的前方道路图像进行图像分割处理；对分割后的图像，采用直线检测算法对道路边缘进行筛选；对筛选的道路边缘，采用双目测距算法，计算划线机器人中心点与道路边缘之间的最短距离，根据所计算的最短距离，控制划线机器人的移动方向，划线机器人移动后，开始道路划线作业，同时，保证划线机器人中心点与道路边缘之间的最短距离始终等于设定数值；划线机器人的高清摄像头，实时采集划线后的图像，并对划线后的图像进行识别，识别图像中的划线，判断划线机器人是否发生偏移，如果是，则控制划线机器人的移动方向。
Road marking robot control method and system
The invention discloses a road marking robot control method and system. A front road image of a marking robot is collected; the collected front road image is preprocessed; performing image segmentation processing on the preprocessed front road image; for the segmented image, road edges are screened by using a straight line detection algorithm; for the screened road edges, calculating the shortest distance between the center point of the marking robot and the road edges by adopting a binocular distance measurement algorithm, controlling the moving direction of the marking robot according to the calculated shortest distance, starting road marking operation after the marking robot moves, and meanwhile, controlling the marking robot to move. The shortest distance between the center point of the marking robot and the road edge is always equal to a set value; and a high-definition camera of the marking robot collects the marked image in real time, identifies the marked image, identifies the marked line in the image, judges whether the marking robot deviates or not, and controls the moving direction of the marking robot if the marking robot deviates.
本发明公开了道路划线机器人控制方法及系统，采集划线机器人的前方道路图像；对采集的前方道路图像进行预处理；对预处理后的前方道路图像进行图像分割处理；对分割后的图像，采用直线检测算法对道路边缘进行筛选；对筛选的道路边缘，采用双目测距算法，计算划线机器人中心点与道路边缘之间的最短距离，根据所计算的最短距离，控制划线机器人的移动方向，划线机器人移动后，开始道路划线作业，同时，保证划线机器人中心点与道路边缘之间的最短距离始终等于设定数值；划线机器人的高清摄像头，实时采集划线后的图像，并对划线后的图像进行识别，识别图像中的划线，判断划线机器人是否发生偏移，如果是，则控制划线机器人的移动方向。
Road marking robot control method and system
道路划线机器人控制方法及系统
ZHANG LIANG (author) / WANG CHAO (author) / WANG BINGTAO (author)
2023-09-26
Patent
Electronic Resource
Chinese
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