Research On The Vision Navigation System Of Intelligent Grain Leveling Robot

Since the beginning of this century,mobile robots have been widely used in all walks of life,replacing humans to complete some complicated,dangerous,and high-intensity tasks.In the process of grain storage,the stored grain needs to be leveled.However,in reality,the granary has a lot of dust,the environment is poor,and it is difficult to level the grain manually.Aiming at the specific environment of the granary,this paper proposes a method for autonomously navigating the unloading robot to push the unloading device to level the grain,and studies the visual autonomous navigation scheme of the unloading robot,so that the unloading robot can walk in the granary autonomously.So as to achieve the goal of leveling grain.The specific research content includes:(1)Research on image thresholding algorithm.The autonomous navigation of the unloading robot adopts a visual navigation scheme,which needs to identify the walkway in the granary and extract features to provide information for the unloading robot to autonomously navigate and walk on the preset walkway.Aiming at the uneven illumination in the granary environment,this paper proposes an improved algorithm after binarization,so that the unloading robot can accurately identify the aisle board in the granary environment.(2)Research on visual navigation algorithm.After the granary aisle board is identified,the characteristic information of the aisle board needs to be converted into the deflection information of the unloading robot's body to realize the autonomous navigation and walking of the unloading robot on the aisle board.This paper proposes a method for information transformation of walkway board feature extraction.First,the edge of the walkway board is extracted by the canny edge detection algorithm,and then the line on the edge of the walkway board is extracted by the Hough transform algorithm,and then the least squares algorithm is used to fit the Hough transform to detect The edge line of the walkway board.Finally,the center line is synthesized according to the edge line of the aisle,and the deflection of the closing robot is obtained according to the conversion relationship between the camera space and the Cartesian space.And also to identify the intersection of the walkway board for autonomous navigation.(3)Visual navigation system design.Through the information extraction of the aisle board,the visual navigation information of the unwinding robot is obtained.The software and hardware system design of the visual navigation is required to analyze,integrate,process,and transmit the navigation information to realize the autonomous navigation of the unwinding robot.