CN112486151A - Automatic working system, automatic walking equipment and control method thereof - Google Patents
Automatic working system, automatic walking equipment and control method thereof Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
An automatic working system, an automatic walking device and a control method thereof are provided, wherein the control method comprises the following steps: acquiring a real-time image shot by the automatic walking equipment in real time in the advancing direction; judging whether the automatic walking equipment reaches or approaches to the boundary according to the layout of colors in the real-time image; and when the automatic walking equipment is judged to reach or approach the boundary, the automatic walking equipment stops advancing forwards and rotates for a preset angle, and then the automatic walking equipment continues advancing and works. The automatic walking equipment judges whether the boundary is reached or approached by shooting the distribution of colors on the real-time image in the advancing direction. The detection is convenient, and the boundary can be arranged on the ground without being buried underground, so that the disassembly and the assembly are convenient.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to an automatic working system, automatic walking equipment and a control method thereof.
Background
With the continuous progress of computer technology and artificial intelligence technology, automatic walking equipment and automatic working systems of intelligent robots have slowly entered the lives of people, such as intelligent floor sweeping robots, intelligent mowing robots and the like. Generally, such an intelligent robot is small in size, integrates a sensing device, a driving device, a battery and the like, does not need manual operation, and can travel and work in a specified area. And when the electric quantity of the battery is insufficient, the battery can automatically return to the charging station, is in butt joint with the charging station and is charged, and continues to move and work after charging is finished.
For the existing intelligent mowing robot, the working area of the existing automatic working system is a large lawn, and the boundary is mostly electrified equipment buried under the ground, so that the intelligent mowing robot can feel the larger lawn. Besides, a boundary is required to be set, and a charging station is required to be set, so that the whole automatic working system is complicated to build. Particularly in the case of small lawns, for example, less than 100 square meters, the mowing robot can cut the entire lawn in two hours, and if a working system as described above is to be built for such lawns, the cost is high and it is troublesome.
Therefore, it is necessary to design an automatic working system, an automatic walking device and a control method thereof, which are convenient and suitable for small-area lawns.
Disclosure of Invention
In order to solve one of the above problems, the present invention provides a control method for an automatic walking device, including: acquiring a real-time image shot by the automatic walking equipment in real time in the advancing direction; judging whether the automatic walking equipment reaches or approaches to the boundary according to the layout of colors in the real-time image; and when the automatic walking equipment is judged to reach or approach the boundary, the automatic walking equipment stops advancing forwards and rotates for a preset angle, and then the automatic walking equipment continues advancing and works.
As a further improvement of the present invention, the step of "judging whether the automatic walking device has reached or approached the boundary based on the layout of colors in the real-time image" includes: judging the range of the boundary according to the layout of the colors in the real-time image; calculating a ratio R1 between the area of the boundary in the real-time image and the total area of the real-time image; when R1 is more than or equal to T1, the automatic walking device is judged to reach or approach the boundary.
As a further improvement of the present invention, the step of "judging the range of the boundary from the layout of colors in the real-time image" includes: detecting or acquiring the color of the boundary; converting the real-time image into an HSV format, an HSI format or an LAB format; and acquiring a set of pixel points of all colors presenting the boundary in the real-time image.
In order to solve one of the above problems, the present invention provides an automatic walking device, which comprises a body, a walking module, and a power module; the automatic walking device comprises: the camera device is arranged on the front side of the body and used for acquiring a real-time image shot by the automatic walking equipment in the advancing direction in real time; and the control device is connected with the camera device and used for judging whether the automatic walking equipment reaches or approaches the boundary according to the color layout in the real-time image, and controlling the automatic walking equipment to stop advancing forwards and rotate by a preset angle after judging that the automatic walking equipment reaches or approaches the boundary, and then continuing to advance and work.
As a further improvement of the present invention, the automatic walking device further comprises a calculation module, the control module can further determine the range of the boundary according to the layout of the colors in the real-time image, and the calculation module is connected with the control module to calculate a ratio R1 between the area of the boundary in the real-time image and the total area of the real-time image; and when R1 is larger than or equal to T1, the control module judges that the automatic walking equipment reaches or approaches the boundary.
As a further improvement of the present invention, the control module includes a format conversion unit for converting the real-time image into HSV format or HSI format or LAB format, and a color detection unit; the color detection unit can be used for detecting or acquiring the color of the boundary and acquiring a set of all pixel points presenting the color of the boundary in the real-time image.
As a further improvement of the present invention, the step "after the automatic walking device stops advancing and rotates by a preset angle, the automatic walking device continues advancing and working" includes: the automated walking device discontinues forward travel; the automatic walking equipment moves in the reverse direction of the original advancing direction for avoiding the distance; the automatic walking equipment rotates by a preset angle; the automatic walking device continues to travel and work.
To solve one of the above problems, the present invention provides an automatic working system, comprising: an automatic walking device; the boundary is arranged in an encircling mode and forms a working area for limiting the automatic walking equipment, and the boundary is detachably arranged on the ground; the border is a different color than the ground color.
As a further improvement of the invention, the boundary comprises boundary piles arranged at intervals and a fence connected between adjacent boundary piles, wherein the boundary piles extend upwards from the ground and can be partially inserted into the ground or completely supported on the ground.
As a further improvement of the invention, the enclosure is made of a flexible material.
Compared with the prior art, the automatic walking equipment provided by the invention judges whether the boundary is reached or close to the boundary by shooting the color distribution on the real-time image in the advancing direction, the detection is more convenient, and the boundary can be arranged on the ground instead of being buried underground, so that the disassembly and the assembly are convenient.
Drawings
FIG. 1 is a schematic view of an automatic working system according to the present invention;
fig. 2 is a flowchart of a control method of the automatic walking apparatus in the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The automatic walking device of the invention can be an automatic mower or an automatic dust collector, and the automatic walking device automatically walks in a working area to carry out mowing and dust collecting work. Of course, the self-propelled device is not limited to a lawn mower and a vacuum cleaner, but may be other devices such as a spraying device, a snow removing device, a monitoring device, and the like suitable for unattended operation.
As shown in fig. 1 and 2, the present invention provides a control method of an automatic walking apparatus, the control method including:
acquiring a real-time image shot by the automatic walking equipment in real time in the advancing direction;
judging whether the automatic walking equipment reaches or approaches to the boundary according to the layout of colors in the real-time image;
and when the automatic walking equipment is judged to reach or approach the boundary, the automatic walking equipment stops advancing forwards and rotates for a preset angle, and then the automatic walking equipment continues advancing and works.
Different from the existing automatic walking equipment, the automatic walking equipment provided by the invention judges whether the boundary is reached or close to by shooting a real-time image of the automatic walking equipment in the advancing direction and analyzing the color distribution in the real-time image, not by sensing the current on the boundary. Therefore, in order to be able to capture a real-time image that includes a border, the border must be significantly different from the grass, and in particular, as described in detail below.
And, the step of "the automatic traveling apparatus stops traveling forward and rotates by a preset angle, and then continues traveling and working" includes: the automated walking device discontinues forward travel; the automatic walking equipment moves in the reverse direction of the original advancing direction for avoiding the distance; the automatic walking equipment rotates by a preset angle; the automatic walking device continues to travel and work. Of course, the automatic walking device may also directly stop the travel and rotate by a preset angle. The avoidance distance is determined by the traveling speed of the autonomous traveling apparatus, the angle of imaging, the size of the boundary, and the like.
Therefore, the automatic walking equipment judges the distance between the automatic walking equipment and the boundary through the real-time image, so that the boundary does not need to be buried in the ground, the boundary can be arranged on the ground, and the boundary is easier to build or disassemble.
Further, the step of "judging whether the automatic walking device has reached or approached the boundary according to the layout of the colors in the real-time image" includes:
judging the range of the boundary according to the layout of the colors in the real-time image;
calculating a ratio R1 between the area of the boundary in the real-time image and the total area of the real-time image;
when R1 is more than or equal to T1, the automatic walking device is judged to reach or approach the boundary.
Since the boundary is set on the ground, if the ratio of the range of the boundary to the area in the real-time image is larger, it indicates that the automatic walking device is closer to the boundary. The threshold T1 is also determined based on the traveling speed of the autonomous traveling apparatus, the imaging angle, the size of the boundary, and the like. In the present embodiment, the threshold T1 has a value of 100%, and the boundary extends upward from the ground and has a height exceeding the height of the autonomous walking apparatus.
Of course, in the above-described embodiment of the present invention, the range of the boundary is judged by the layout of colors, and the automatic walking device has reached or approached the boundary is judged by the ratio R1 between the area of the boundary in the real-time image and the total area of the real-time image. Of course, in another embodiment, a separation line between the boundary and the ground may also be detected through the layout of colors, so that the distance between the automatic walking device and the boundary is determined according to the position of the separation line in the real-time image. If the separation line is closer to the lower part of the real-time image, the automatic walking equipment is closer to the boundary; conversely, the closer the separation line is to the top of the real-time image, the further the autonomous walking device is from the boundary. In particular, in the other embodiment, the method can be performed by a method of detecting straight lines through Hough transformation and the like, wherein the lower edge of the boundary has obvious straight line characteristics.
Specifically, the step of determining the range of the boundary according to the layout of the colors in the real-time image includes:
detecting or acquiring the color of the boundary;
converting the real-time image into an HSV format, an HSI format or an LAB format;
and acquiring a set of pixel points of all colors presenting the boundary in the real-time image.
In order to be clearly distinguished from the lawn, the color of the boundary is usually different from that of the lawn, and therefore, the range of the boundary in the real-time image is identified by acquiring the pixel point of the color in the real-time image. Furthermore, the real-time image can be converted into an HSV format or an HSI format or an LAB format, so that the color detection is more facilitated, and then the pixel points of the color are extracted from the picture. After the extent of the boundary is obtained, the ratio R1 between the area of the boundary and the total area of the real-time image is calculated as described above.
The phrase "detecting or acquiring the color of the boundary" means that the color of the boundary can be detected by image recognition or the like, and the color of the boundary can be directly retrieved from the memory of the automatic walking apparatus. In addition, in the "acquiring a set of pixel points of all colors representing a boundary in a real-time image", the color representing the boundary may be a plurality of colors, for example, a color satisfying that chromaticity is within a certain range or saturation is within a certain range may be used as the color of the boundary.
For example, in an embodiment of the present invention, if the color of the boundary is red, and the red is clearly distinguished from the lawn, specifically, in the control method of the present invention, the pixel point presenting the red color may be obtained from the real-time image, and the range of the boundary is formed, and then the calculation is performed. If the ratio R1 between the area of the red range and the total area of the real-time image is greater than or equal to T1, it indicates that the automatic walking device reaches or approaches the boundary.
The invention also provides automatic walking equipment which comprises a body, a walking module and a power supply module, and in the invention, the automatic walking equipment also comprises a camera device and a control device, wherein the camera device is arranged on the front side of the body and is used for acquiring a real-time image shot by the automatic walking equipment in the advancing direction in real time. And the control device can be connected with the camera device and is used for judging whether the automatic walking equipment reaches or is close to the boundary according to the color layout in the real-time image, and when the automatic walking equipment reaches or is close to the boundary, the control device controls the automatic walking equipment to stop advancing forwards and rotate by a preset angle, and then the automatic walking equipment continues advancing and works. Of course, this corresponds to the control method of the automatic walking device described above, and will not be described herein again.
Further, the automatic walking device further comprises a calculation module, the control module can also judge the range of the boundary according to the layout of the colors in the real-time image, and the calculation module is connected with the control module to calculate the ratio R1 between the area of the boundary in the real-time image and the total area of the real-time image; and when R1 is larger than or equal to T1, the control module judges that the automatic walking equipment reaches or approaches the boundary. Specifically, the control module comprises a format conversion unit and a color detection unit, wherein the format conversion unit is used for converting the real-time image into an HSV format, an HSI format or an LAB format; the color detection unit can be used for detecting or acquiring the color of the boundary and acquiring a set of all pixel points presenting the color of the boundary in the real-time image. In addition, as shown in fig. 1, the present invention also provides an automatic working system of an automatic walking device, the automatic working system including:
an automatic walking device;
the boundary is arranged in an encircling mode and forms a working area for limiting the automatic walking equipment, and the boundary is detachably arranged on the ground; the border is a different color than the ground color.
The boundary is detachably arranged on the ground, so that the boundary can be detached after being built, the boundary can be reused, only the boundary needs to be built for a small-area lawn, charging stations do not need to be arranged, and the building efficiency of the automatic working system is higher. The automatic walking equipment can freely walk and work in a working area enclosed by the boundary. The boundary is provided on the ground, can be matched with the automatic walking equipment, and is within the shooting range of the camera device when the automatic walking equipment is close to the boundary.
Further, the boundary comprises boundary piles 1 arranged at intervals and barriers 2 connected between the adjacent boundary piles 1, wherein the boundary piles 1 extend upwards from the ground and can be partially inserted into the ground or completely supported on the ground. Thus, the boundary pile 1 may be fixed on the ground. Moreover, as described above, the height of the enclosure 2 in the vertical direction is higher than that of the self-walking device, so that the self-walking device can shoot more favorably. Of course, the boundary piles 1 are designed higher than the surround 2. In the present embodiment, the boundary pile 1 has a hard rod shape, and the lower end thereof is sharp to be inserted into the ground to support the fence 2.
Of course, as described above, the color of the border is different from the color of the ground, so that better recognition from the camera of the walking device is possible. Specifically, the color of the border is red. In the present embodiment, the fencing 2 and the boundary piles 1 are of the same color and are all red, but the fencing 2 and the boundary piles 1 may be of different colors.
In addition, the enclosure 2 is made of a flexible material, so that the enclosure can be folded in a curling manner. Preferably, the enclosure 2 is made of a light elastic material, so that the storage space is saved, and the enclosure 2 is also beneficial to being tightened when being fixed on the boundary pile 1, so that the enclosure 2 can be effectively enclosed on the boundary pile 1.
In summary, the present invention provides a control method for an automatic walking device, and the method can determine whether the automatic walking device reaches or approaches a boundary according to a layout of colors in a real-time image captured in real time, so that the boundary can be detachably disposed on the ground, and thus the automatic working system can be more easily built. Furthermore, the invention can obtain the range size of the boundary by detecting the pixel points which present the color of the boundary in the real-time photo, and when the range of the boundary is larger, the automatic walking equipment can be judged to be closer to the boundary, so that the automatic walking equipment can be controlled to turn in real time.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. A control method of an automatic walking device, characterized by comprising:
acquiring a real-time image shot by the automatic walking equipment in real time in the advancing direction;
judging whether the automatic walking equipment reaches or approaches to the boundary according to the layout of colors in the real-time image;
and when the automatic walking equipment is judged to reach or approach the boundary, the automatic walking equipment stops advancing forwards and rotates for a preset angle, and then the automatic walking equipment continues advancing and works.
2. The control method according to claim 1, wherein the step of "judging whether the automatic walking device has reached or approached the boundary based on the layout of colors in the real-time image" comprises:
judging the range of the boundary according to the layout of the colors in the real-time image; calculating a ratio R1 between the area of the boundary in the real-time image and the total area of the real-time image;
when R1 is more than or equal to T1, the automatic walking device is judged to reach or approach the boundary.
3. The control method according to claim 2, wherein the step of "judging the range of the boundary from the layout of colors in the real-time image" includes:
detecting or acquiring the color of the boundary;
converting the real-time image into an HSV format, an HSI format or an LAB format; and acquiring a set of pixel points of all colors presenting the boundary in the real-time image.
4. The control method according to claim 1, wherein the step of 'continuing the traveling and working after the automatic traveling apparatus stops the forward traveling and rotates by a preset angle' includes:
the automated walking device discontinues forward travel;
the automatic walking equipment moves in the reverse direction of the original advancing direction for avoiding the distance;
the automatic walking equipment rotates by a preset angle;
the automatic walking device continues to travel and work.
5. An automatic walking device comprises a body, a walking module and a power supply module; characterized in that, the automatic walking equipment includes: the camera device is arranged on the front side of the body and used for acquiring a real-time image shot by the automatic walking equipment in the advancing direction in real time;
and the control device is connected with the camera device and used for judging whether the automatic walking equipment reaches or approaches the boundary according to the color layout in the real-time image, and controlling the automatic walking equipment to stop advancing forwards and rotate by a preset angle after judging that the automatic walking equipment reaches or approaches the boundary, and then continuing to advance and work.
6. The automatic walking device of claim 5, further comprising a calculation module, wherein the control module is further capable of determining the range of the boundary according to the layout of the colors in the real-time image, and the calculation module is connected to the control module to calculate a ratio R1 between the area of the boundary in the real-time image and the total area of the real-time image; and when R1 is larger than or equal to T1, the control module judges that the automatic walking equipment reaches or approaches the boundary.
7. The automatic walking device of claim 6, wherein said control module comprises a format conversion unit to convert a real-time image into HSV format or HSI format or LAB format and a color detection unit; the color detection unit can be used for detecting or acquiring the color of the boundary and acquiring a set of all pixel points presenting the color of the boundary in the real-time image.
8. An automatic working system of an automatic walking device as claimed in claims 5 to 7, comprising:
an automatic walking device;
the boundary is arranged in an encircling mode and forms a working area for limiting the automatic walking equipment, and the boundary is detachably arranged on the ground; the border is a different color than the ground color.
9. The automated work system according to claim 8, wherein the boundary comprises spaced apart boundary piles extending upwardly from the ground surface and being partially insertable into the ground surface or fully supported on the ground surface, and a fence connected between adjacent boundary piles.
10. The automated work system of claim 9, wherein the enclosure is a flexible material.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910774389.8A CN112486151A (en) | 2019-08-21 | 2019-08-21 | Automatic working system, automatic walking equipment and control method thereof |
| PCT/CN2019/117871 WO2021031406A1 (en) | 2019-08-21 | 2019-11-13 | Automatic working system, and automatic walking device and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910774389.8A CN112486151A (en) | 2019-08-21 | 2019-08-21 | Automatic working system, automatic walking equipment and control method thereof |
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| CN112486151A true CN112486151A (en) | 2021-03-12 |
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| CN201910774389.8A Pending CN112486151A (en) | 2019-08-21 | 2019-08-21 | Automatic working system, automatic walking equipment and control method thereof |
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| CN (1) | CN112486151A (en) |
| WO (1) | WO2021031406A1 (en) |
Cited By (1)
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| CN117274949A (en) * | 2023-09-19 | 2023-12-22 | 南京苏美达智能技术有限公司 | Camera-based obstacle and boundary detection methods and automatic walking equipment |
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| WO2021031406A1 (en) | 2021-02-25 |
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