Grain leveling robot positioning and action control method

The invention relates to a grain leveling robot positioning and action control method in the technical field of robots. The method comprises the steps that 1, collecting a picture in front of a robotin real time, and the picture comprises an image of a walkway plate; 2, preprocessing the picture to obtain a preprocessed picture; 3, extracting line segments of the outline of the walkway plate in the preprocessed picture; 4, judging the position of the robot on the walkway plate according to the line segment of the contour of the walkway plate; and 5, according to the position of the robot on the walkway plate, the number of walking wheels of the robot and the mark or grain leveling signal on the walkway plate, outputting a control command that the robot walks straightly, lifts the rod, turns round by 180 degrees and walks straightly or turns left by 90 degrees and then walks straightly. By the adoption of the method, the position of the grain leveling robot in the #-shaped walkway canbe obtained in real time,