Acquisition method of target leveling height based on machine vision

Authors：Yin, Qiang; Gu, JiaXin^*; Song, Shaoyun; Zhang, Yonglin; Zhao, Gang; Hao, ZhiQiang

Source：CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE, 2023, 35(3).

DOI：10.1002/cpe.7513

• grain leveling robot
• image stitching
• machine vision
• target leveling height

Grain leveling robot is a special equipment to realize grain surface leveling in granary. Whether the target height of grain leveling is clear or not has a great influence on the leveling effect and efficiency of grain surface. In this article, the deficiencies of existing grain leveling robots are summarized, and a method of obtaining target leveling height based on machine vision is proposed. Data were collected by RGB-D camera, the depth matrix of the whole large granary was obtained by image stitching and edge detection, and then the target height of the grain leveling robot was obtained by the element method. It solves the problem of controlling the falling height of the robot by human subjective feeling, improves the efficiency and precision of the robot, optimizes the effect of the robot, and helps to realize the intelligent work of the robot.