【摘要】 近年来,随着人工成本的提高和人口红利的消失,建筑行业急需机器人代替人工。针对于墙体开槽机器人在复杂多变的光照条件下特征提取失败、错误提取等问题,提出了一种改进的多尺度Retinex算法进行图像预处理。在原始多尺度Retinex应用到图像亮度分量得到每个像素位置亮度增量的基础上,采用衰减函数抑制高亮区域的亮度值增量,然后将亮度值增量转化为RGB三通道的变化量。试验结果表明:该预处理算法能在多种光照条件下得到了颜色较一致的图像,且能显著抑制色偏现象,克服在单尺度Retinex阶段容易造成图片的灰化以及在高亮条件下颜色失真的问题。使用基于该预处理算法的墙体开槽机器人目标检测与定位方法使得机器人在复杂多变的光照条件下依然能够实现准确的目标检测与精准定位,为墙体开槽机器人的开发奠定了试验基础。更多还原

【Abstract】 In recent years, the construction industry has faced the urgent need to replace labor with robots due to rising labor costs and the disappearance of demographic dividends. To address the challenges of feature extraction failure and erroneous extraction in wall slotting robots under complex and variable lighting conditions, an improved multi-scale Retinex algorithm was proposed for image preprocessing. By applying the original multi-scale Retinex to the image’s brightness component, the algorithm obtained the brightness increment at each pixel position. The attenuation function was subsequently applied to suppress the brightness increment in highlighted regions, while simultaneously converting the brightness increment into RGB channel variations. The experimental results show that the preprocessing algorithm achieves relatively consistent color images under various lighting conditions, effectively suppresses color deviation, and overcomes the issues of graying in the single-scale Retinex stage and color distortion in highlight conditions. By employing the target detection and positioning method based on this preprocessing algorithm, the wall slotting robot can accurately detect and position targets even under complex and variable lighting conditions, providing an experimental foundation for the development of wall slotting robots.更多还原