CN110727270A - Automatic working system and method for establishing working area control map thereof - Google Patents
Automatic working system and method for establishing working area control map thereof Download PDFInfo
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
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Abstract
The invention provides an automatic working system and a method for establishing a working area control map thereof. The automatic working system comprises an automatic working device and a path planning device, the automatic working system further comprises an image acquisition device, an image processing device and an image storage device, the image acquisition device is connected and installed on the automatic working device, the image processing device is in communication connection with the image acquisition device, the image acquisition device is connected to the automatic working device and used for acquiring topographic feature images in a working area and transmitting the topographic feature images to the image storage device for storage, and the image processing device is used for forming a three-dimensional control map of the working area according to the topographic feature image fitting. The automatic working system has a map establishing function, can conveniently and quickly acquire the high-precision three-dimensional control map of the working area, and then plans the moving, working and charging paths according to the position and environmental information in the three-dimensional control map, thereby effectively improving the practicability of the automatic working system for realizing garden work.
Description
Technical Field
The invention relates to an automatic working system and a method for establishing a control map of a working area of the automatic working system.
Background
With the continuous development of intelligent technology in recent years, intelligent mechanical equipment is applied to various fields, and particularly in the field of garden machinery, the generation of intelligent garden equipment frees users from time-consuming and labor-consuming work such as cleaning and maintenance.
However, although the intelligent garden equipment in the prior art has the advantages of intellectualization, modernization, environmental protection, hands freeing and the like, because the intelligent garden equipment is arranged around a working area such as a lawn before normal work, the boundary signal lines are sometimes arranged under the lawn in the arrangement process, and the arrangement form usually causes damage to the ground of the working area such as the lawn; when the boundary signal line is arranged on the ground of a working area such as a lawn, the boundary signal line is easily interfered by external signals, so that the intelligent garden equipment is out of control.
Meanwhile, obstacles such as trees, flower beds and the like in working areas such as lawns and the like need to be avoided in the process of arranging the boundary signal lines; in addition, the intelligent garden equipment walks randomly in the lawn and other work areas; when the intelligent garden equipment returns to the charging station, the charging guide line or the boundary signal line is randomly searched, so that the intelligent garden equipment needs to follow the guide line or the signal line arranged when returning to the charging station to move, and working areas such as lawns are easily pressed out of indentations, so that the appearances of the working areas such as lawns are damaged, and the practicability of the intelligent garden equipment is influenced.
In view of the above, it is necessary to provide a new automatic working system to solve the above problems.
Disclosure of Invention
The invention aims to provide an automatic working system which has a control map establishing function, can conveniently and quickly acquire a high-precision three-dimensional control map of a working area, plans a moving path, a working path and a charging path according to position and environment information in the three-dimensional control map, and effectively improves the practicability of the automatic working system for realizing garden work.
To achieve the above object, the present invention provides an automatic working system, comprising an automatic working device for moving and performing a landscape work task within a work area, the automatic working system also comprises an image acquisition device, an image processing device in communication connection with the image acquisition device, an image storage device in signal connection with the image acquisition device and the image processing device respectively, and a path planning device for planning and acquiring the walking path of the automatic working device in a working area, wherein the image acquisition device is connected with the automatic working device, used for acquiring the topographic image in the working area and transmitting the topographic image to the image storage device for storage, the image processing device is used for forming a three-dimensional terrain feature image of the working area according to terrain image fitting, and fitting and obtaining a three-dimensional control map of the working area under the processing action of the path planning device.
As a further improvement of the present invention, the automatic working device comprises a housing, a control unit, a power supply unit and a working unit for performing garden work, the control unit, the power supply unit and the working unit are accommodated in the housing, the image acquisition device is connected and mounted on the housing, the rotation angle of the image acquisition device on the horizontal plane is 360 °, and the pitch angle is-15 ° to-60 °.
As a further improvement of the present invention, the control unit is used for controlling the operation and working of the automatic working device, and includes a control circuit board housed in the housing, a driving motor, a driving wheel located behind the housing, and a driven wheel located in front of the housing.
As a further improvement of the present invention, the terrain image includes position information and environment information at various positions in the working area, and the image processing device is configured to acquire the position information and the environment information to fit and acquire a three-dimensional terrain feature image of the working area of the automatic working device.
As a further improvement of the present invention, the path planning device is respectively in communication connection with the automatic working device, the image acquisition device and the image storage device, and includes a display unit and a path planning unit, and the display unit is in communication connection with the image storage device and is used for displaying the three-dimensional terrain feature image or the three-dimensional control map obtained by the image acquisition device in a fitting manner.
As a further improvement of the present invention, the path planning unit includes a data processing unit and a manipulation unit, the data processing unit is respectively in communication connection with the automatic working device and the image acquisition device, and acquires position information and environment information of the automatic working device in a moving process in real time through the image acquisition device, so as to adjust the three-dimensional terrain feature image and plan a working path of the automatic working device.
As a further improvement of the present invention, the operating unit is respectively connected in communication with the driving device and the working device of the automatic working device for controlling the driving device to move the automatic working device in the working area.
As a further improvement of the present invention, the path planning apparatus further includes a reference marking unit, the reference marking unit is configured to calibrate a marking reference object and set a marking reference coordinate, and the data processing unit performs marking processing on the obstacle in the three-dimensional terrain feature image through the marking reference object and the marking reference coordinate.
As a further improvement of the present invention, the path planning device can set the boundary of the working area on the three-dimensional terrain feature image and/or the path for the automatic working device to return to the set position for charging.
In order to achieve the above object, the present invention further provides a method for creating a control map of a work area of an automatic work system, where the automatic work system is the automatic work system, and an automatic work device can move and work in a limited work area, and the method for creating the control map includes the following steps:
s1, the automatic working device is driven by the control unit to walk on the boundary of the working area so as to obtain a first terrain image of the boundary of the working area, and the first terrain image is stored in the image storage device;
s2, the automatic working device receives the control signal of the control unit, and walks randomly within the boundary range of the working area to obtain a second topographic image inside the working area and transmits the second topographic image to the image storage device for storage;
s3, the image processing device obtains a three-dimensional terrain feature image of the working area in a fitting mode according to the first terrain image and the second terrain image;
and S4, marking the three-dimensional terrain feature image by an obstacle through the path planning device, and planning the working path of the automatic working device so as to obtain a three-dimensional control map of the automatic working device.
The invention has the beneficial effects that: the automatic working system of the invention enables the automatic working device to obtain the terrain image of the working area by arranging the image acquisition device and the path planning device in signal connection with the image acquisition device, further obtains the three-dimensional terrain feature image of the working area by the terrain image fitting, then sets/adjusts the working/charging regression path of the automatic working device by the path planning device, and finally obtains the three-dimensional control map of the working area of the automatic working device 1; according to the arrangement, on one hand, the drawing precision of the three-dimensional control map of the working area of the automatic working system is effectively improved; on the other hand, the influence of a single and repeated route of the automatic working device on the landform of a working area in the operation process is effectively avoided, and the practicability of the automatic working system is further improved.
Drawings
Fig. 1 is a schematic view of the structure of an automatic working system of the present invention.
Fig. 2 is a block diagram of the automatic working system of fig. 1.
Fig. 3 is a schematic view of the structure of the automatic working apparatus of fig. 1.
Fig. 4 is a schematic view of another angle of the automatic working apparatus of fig. 1.
Fig. 5 is a block diagram of the automatic working device of fig. 1.
Fig. 6 is a schematic view of the reference marking unit of fig. 2 calibrating the marking reference and setting the marking reference coordinates.
FIG. 7 is a diagram of the data processing unit of FIG. 2 setting up a working path.
Fig. 8 is a flowchart of a three-dimensional control map building method of an automatic work system work area of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the aspects of the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.
In addition, it is also to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1 and fig. 2, an automatic working system 100 provided by the present invention includes an automatic working device 1, an image capturing device 2 for obtaining a three-dimensional topographic feature image of a working area of the automatic working device 1, an image storing device 3, an image processing device 4, and a path planning device for planning and obtaining a walking path of the automatic working device 1 in the working area.
Referring to fig. 3 to 5, the automatic working apparatus 1 is used to move and perform a landscape work task within a work area. In the present invention, the automatic working apparatus 1 includes a cabinet 11, a control unit 12 housed in the cabinet 11, a power supply unit 13, and a working unit 14 for performing a gardening work. Specifically, the housing 11 has an accommodating space (not shown), the control unit 12 is configured to control the operation and working of the automatic working device 1, and includes a control circuit board (not shown) accommodated in the accommodating space of the housing 11, a driving motor 121, a driving wheel 122 located at the rear of the housing 11, and at least one driven wheel 123 located at the front of the housing 11, and further, the driving motor 121 is provided with at least 2 driving motors including a first driving motor (not numbered) configured to drive the driving wheel 122 and a second driving motor (not numbered) configured to drive the working unit 14 to work, so as to drive the operation and working of the automatic working device 1. Preferably, the automatic working device 1 has two driving wheels 122 located at the rear of the housing 11 and 2 first driving motors provided in one-to-one correspondence with the driving wheels 122, and the driven wheels 123 are universal wheels.
The power supply unit 13 is accommodated in the accommodating space to supply electric energy to the automatic working device 1, and in the present invention, the power supply unit 13 is a rechargeable power supply unit detachably connected to the automatic working device 1 to facilitate charging/replacement of the power supply unit 13, however, in other embodiments of the present invention, the power supply unit 13 may also be fixedly connected to the automatic working device 1, and at this time, the power supply unit 13 may be charged through a charging wire, and preferably, the power supply unit 13 is a rechargeable battery pack.
The working unit 14 is connected to the housing 11 and is in driving connection with the second driving motor, and in the present invention, the working unit 14 can be any garden working unit for performing garden work, such as a cutting blade assembly for performing a mowing task or a snow removing assembly for performing a snow removing task. It should be noted that the working unit 14 is detachably connected to the housing 11, that is, the connection position between the working unit 14 and the housing 11 can be connected and installed according to the specific function of the working unit 14, and it is only necessary to ensure that the working unit 14 is electrically connected to the control motor 121 and can perform the garden work task.
The image acquisition device 2 is used for acquiring a topographic image of a working area of the automatic working device 1, wherein the topographic image comprises a first topographic image used for displaying boundary topographic features of the working area and a second topographic image used for displaying internal topographic features of the working area, and each topographic image comprises position information and environment information of each position of the working area. Specifically, the image capturing device 2 is connected to the housing 11, and the rotation angle of the image capturing device 2 on the horizontal plane is 360 °, the pitch angle is-15 to 60 °, and preferably the pitch angle when the image capturing device 2 captures an image is 0 to 45 °. In the present invention, the image capturing device 2 is any one of a scanning or image capturing apparatus, but in other embodiments of the present invention, the image capturing device 2 may also be other devices for acquiring a topographic image, that is, in the present invention, the specific type of the image capturing device 2 may be selected according to actual needs without limitation.
The image storage device 3 is electrically connected to the image capturing device 2 for storing the topographic image captured by the image capturing device 2. in one embodiment of the present invention, the image storage device 3 is separated from the image capturing device 2, and the image storage device 3 is accommodated in the accommodating space/connected to the housing 11. Of course, in other embodiments of the present invention, the image storage device 3 may be integrally formed with the image capturing device 2.
The image processing device 4 is in signal connection with the image storage device 3 to obtain the position information and the environment information contained in the terrain image in the image storage device 3, and to fit and obtain the three-dimensional terrain feature image of the working area of the automatic working device, and further to transmit the three-dimensional terrain feature image to the image storage device 3 for storage and utilization, specifically, the three-dimensional terrain feature image is obtained by fitting a plurality of first terrain images and second terrain images, and comprises three-dimensional coordinates of each position in the working area. Further, the image processing device 4 may be provided integrally with the image capturing device 2 and/or the image storage device 3, or may be provided integrally with the image capturing device 2 and/or the image storage device 3, that is, the specific arrangement form and position of the image processing device 4 may be selected according to actual needs, and is not limited thereto.
The path planning device 5 is configured to obtain a three-dimensional control map of the working area, specifically, the three-dimensional control map is obtained by correcting and calibrating a three-dimensional topographic feature image, and the path planning device 5 is further configured to plan a working path of the automatic working device 1, so that the automatic working device 1 moves in the working area along the working path in the three-dimensional control map.
In the present invention, the path planning device 5 is in communication connection with the automatic working device 1, in the present invention, the path planning device 5 is connected with the control unit 12, preferably, the path planning device 5 is in communication connection with the control unit 12 through a wired connection and/or a wireless connection manner such as wifi, bluetooth, infrared, etc., of course, in other embodiments of the present invention, the path planning device 5 may also be in communication connection with the control unit 12 through other wireless connection manners, so as to facilitate the path planning device 5 to control the operation of the automatic working device 1 through the control unit 12.
In the present invention, the route planning apparatus 5 includes a display unit 50 and a route planning unit 51. The display unit 50 is in communication connection with the image storage device 3, and is configured to display the three-dimensional topographic feature image or the three-dimensional control map stored in the image storage device 3, so as to facilitate a user to compare the three-dimensional topographic feature map obtained by fitting the image processing device 4 with an actual situation of a working area, and further remove an influence of a movable obstacle such as a pedestrian, a pet, a vehicle, and the like in the working area on the fitting obtaining precision of the three-dimensional control map through the path planning unit 51.
Further, the display unit 50 may display the three-dimensional terrain feature image or the three-dimensional control map in an enlarged or reduced manner from a plurality of angles, such as a front view, an overlook view, and the like, so as to facilitate the user to observe the three-dimensional terrain feature image or the three-dimensional control map in an all-around manner, and to correct the three-dimensional terrain feature image or the three-dimensional control map more precisely and accurately. Preferably, the display unit 50 is a mobile smart device such as a smart phone or a smart computer communicatively connected to the control unit 12.
Referring to fig. 6 to 7, the path planning unit 51 includes a data processing unit 52 and a manipulating unit 53. The data processing unit 52 is in communication connection with the control unit 12 and the image acquisition device 2, respectively, so as to obtain the position information and the environment information of the automatic working device 1 in the moving process in real time through the image acquisition device 2, and adjust the three-dimensional terrain feature image or the three-dimensional control map according to the actual situation in the working area, so as to further plan the working path of the automatic working device 1.
Further, the data processing unit 52 may be further configured to set a boundary of the work area and a work path of the automatic working device 1, specifically, the boundary of the work area may be modified or deleted as needed, and in the present invention, a plurality of moving work paths of the automatic working device 1 may be simultaneously provided, and the automatic working device 1 may switch the work path of the automatic working device 1 manually or automatically according to the setting of the path planning device 5, and of course, the automatic working device 1 may also move randomly within the boundary range of the work area, and only it is required to ensure that the automatic working device 1 can complete the image acquisition and/or the garden work task of the work area during the moving process. After the working path and the boundary are set, the path planning device 5 sends the working path information and the boundary information to the control unit 12 of the automatic working device 1, and the control unit 12 controls the driving motor 121 to drive the automatic working device 1 to work according to the working path information until new working path information and boundary information are received next time to cover the original information.
The manipulation unit 53 is in communication with the control unit 12 and the working unit 14, respectively, to move the automatic working device 1 within the working area and perform the garden work task through the control unit 12. Specifically, the operation unit 53 is communicatively connected to the driving motor 121 to control the driving wheel 122 to drive the automatic working device 1 to move forward, backward, turn, or accelerate or decelerate through the driving motor 121, and further control the working unit 14 to start/stop the gardening work.
In a preferred embodiment of the present invention, the manipulation unit 53 is a virtual manipulation unit that can be displayed by the display unit 50, and when the automatic working device 1 needs to be controlled by the virtual manipulation unit, the virtual manipulation unit can be displayed by the display unit 50, and the virtual manipulation unit can be hidden after the control is finished, so that the size of the path planning device 5 can be effectively reduced, and the practicability of the automatic working system 100 can be effectively improved. Of course, in other embodiments of the present invention, the operation unit 53 may also be a control button disposed on the path planning device 5, and the user may control the automatic working device 1 directly through the control button, that is, in the present invention, the specific configuration of the operation unit 53 may be selected according to actual needs, which is not limited herein.
In a preferred embodiment of the present invention, the path planning apparatus 5 further comprises a reference marking unit 54 (fig. 6) for marking a reference object in the three-dimensional topographic feature image and setting a marking reference seat. Specifically, the reference mark unit 54 is used for calibrating obstacles in the working area, and the obstacles that can be calibrated in the three-dimensional terrain feature image in the present invention at least include fixed obstacles, flowing obstacles, and target obstacles, wherein the fixed obstacles are: objects and/or equipment which cannot move in the working area for a long time, and the shape, the position, the size and other attributes of the objects and/or equipment cannot change along with the time; such as buildings, roads, yard walls, etc., located within a work area. The flow obstacles are: objects and/or equipment and/or pets, pedestrians, etc. that are temporarily stored/parked in the work area, and the shape, position, size, etc. attributes of the flow obstruction will change over time; such as carts parked within a work area, people and/or pets playing within a work area, and plants that are often trimmed, etc. The target obstacle is: obstacles, such as bushes and the like, which do not change for a short time but change for a long time in the work area.
The obstacle marks designated by the reference marking unit 54 include at least two kinds, one of which is a mark reference mark and the other of which is a target obstacle mark. In one embodiment of the present application, the marker reference markers are used to mark fixed obstacles; the target obstacle mark is used for marking the target obstacle; flow obstructions are not marked. The marker reference markers are distinguished from the target obstacle markers by: the target obstacle mark indicates that the target obstacle is an obstacle in the three-dimensional topographic feature image, and the automatic working device 1 needs to avoid the obstacle when working. The marking reference object marks the obstacle, when the automatic working device 1 determines the current position of the automatic working device, the image acquisition device 2 is required to acquire the surrounding environment and compare the surrounding environment with map information stored in the three-dimensional terrain feature image, and only the image of the marking reference object is compared during comparison, so that the operation time and the burden of the automatic working device 1 are reduced.
In order to prevent the automatic working device 1 from colliding with a flowing obstacle or an obstacle newly appearing in a working area during operation, an obstacle sensing device is provided on the automatic working device 1, and the obstacle sensing device is a non-contact obstacle sensing device (e.g., an infrared sensing device) or a contact obstacle sensing device (e.g., a hall collision sensing device). When the obstacle sensing device senses that an obstacle exists in the front, the obstacle sensing device can turn randomly to avoid the obstacle. Such techniques have been applied in the field of smart mowers and are not described in detail herein.
Further, the marking reference object calibrated by the reference marking unit 54 is at least one of the fixed obstacles calibrated by the reference marking unit 54, and in the present invention, the marking reference object may be modified or deleted according to the actual situation, and after the marking reference object is selected, the reference marking unit 54 may further obtain the marking reference coordinate of the three-dimensional terrain feature image according to the marking information of the marking reference object, so as to calibrate the fixed obstacle and/or the target obstacle.
The marking information for defining the marking reference object comprises data which can be used for displaying the position and shape characteristics of the marking reference object, such as the position, shape, size and height of the marking reference object, and the marking reference coordinate is a reference coordinate which takes the position of the marking reference object as an origin and takes the height direction of the marking reference object as a Z-axis direction, and further, the directions of an X axis and a Y axis of the marking reference coordinate can be selected in the three-dimensional terrain characteristic image through the data processing unit 52 according to actual needs.
The Z axis in the marking reference coordinate is used for calibrating the height of the marking reference object and the fixed obstacle and/or the target obstacle, the X axis and the Y axis are used for calibrating the width of the marking reference object and the fixed obstacle and/or the target obstacle, and in the invention, the height calibration range of the marking reference object and the fixed obstacle and/or the target obstacle is-5-20 m, and when the height is a negative value, the marking reference object and the fixed obstacle and/or the flow obstacle and/or the target obstacle are sunken obstacles, such as a pond, a deep ditch and the like; the width calibration range of the marking reference object and the fixed obstacle and/or the flow obstacle and/or the target obstacle is 0-60 m, wherein the width of the cylindrical marking reference object and the fixed obstacle such as a tree is based on the maximum diameter of the cylindrical marking reference object and the fixed obstacle within the range of the overall height of the automatic working device 1, and preferably, the width of the cylindrical marking reference object and the fixed obstacle and/or the flow obstacle and/or the target obstacle is based on the maximum diameter of the cylindrical marking reference object and the fixed obstacle within the range of the height of 0-30 cm in one embodiment of the invention.
Further, the automatic working device 1 further comprises a charging device 6, wherein the charging device 6 is movably installed in the working area and used for charging the automatic working device 1 to ensure the normal operation of the automatic working device 1. Specifically, the path planning apparatus 5 may also be configured to plan a charging return path (indicated by a dotted line in fig. 1 and 7) for the automatic working apparatus 1 to return to the charging apparatus 6, the charging return path being defined as a virtual line set by the operator in a three-dimensional control map for controlling the automatic working apparatus 1 to return to the charging apparatus 6, and the automatic working apparatus 1 may avoid operating in a narrow working environment by setting the charging return path while facilitating the automatic working apparatus 1 to return to the charging apparatus 6 at various positions in the working area.
In the present invention, the automatic working device 1 further includes a power detection unit for detecting the remaining power of the power supply unit 13. The control unit 12 is defined to drive the automatic working device 1 to move from the position farthest from the charging device 6 in the three-dimensional control map, the electric quantity consumed when moving to the charging device 6 is the residual quantity threshold, and when the electric power detection unit detects that the electric power of the power supply unit 13 reaches the residual quantity threshold, the path planning device 5 controls the automatic working device 1 to return to the charging device 6 along the charging return path.
Further, in another preferred embodiment of the present invention, the charging device 6 is further provided with a signal transmitting device, the automatic working device 1 is provided with a signal detecting device corresponding to the signal transmitting device, and the data processing unit 52 is further configured to run a grid algorithm and control the automatic working device 1 to return to the charging device 6 along the charging return path or return to the charging device 6 through the path planning device 5 to complete charging.
Specifically, a distance threshold value L for returning the automatic working device 1 to the charging device 6 along the charging return path is defined (i.e., the number of image blocks for measuring the distance of the automatic working device 1 from the charging return path is X), when the power detection unit detects that the power of the power supply unit 13 reaches the remaining power threshold value, the automatic working device 1 automatically records the position of the current automatic working device 1 position and the environment image through the image acquisition device 2 and the image storage device 3, further, the signal detection device starts to detect the signal transmission device distance from the charging device 6, and the data processing unit 52 calculates and compares the distance D between the automatic working device 1 and the closest charging return path, the distance D between the charging device 6 and the automatic working device 1, and the relationship between the distance threshold value L through the mesh algorithm. When D is less than L, the path planning device 5 controls the automatic working device 1 to move towards the closest charging return path, and finally returns to the charging device 6 along the charging return path to complete charging.
When D is larger than L, the data processing unit 52 and/or the path planning device 5 plans the regression path again, and controls the automatic working device 1 to return to the charging device 6 along the re-planned regression path to complete charging. It should be noted that, when the path that the automatic working device 1 returns to the charging device 6 cannot be obtained by replanning, the path planning device 5 may control the automatic working device 1 to move toward the closest charging return path, and finally return to the charging device 6 along the charging return path to complete charging.
It should be noted that the distance threshold L that the automatic working device 1 returns to the charging device 6 along the charging return path may be set according to the actual situation of the power supply device 13 of the automatic working device 1, and after the automatic working device 1 completes charging, the automatic working device will continue to return to the previous position along the charging return path to complete the garden work task.
Referring to fig. 8, the present invention further provides a method for establishing a control map of a work area by an automatic work system 100, the method comprising the following steps:
s1, the automatic working device 1 is driven by the control unit 12 to walk on the boundary of the working area to obtain a first terrain image of the boundary of the working area, and the first terrain image is stored in the image storage device 3;
s2, the automatic working device 1 receives the control signal of the control unit 12, walks randomly within the boundary range of the working area to obtain a second topographic image inside the working area and transmits the second topographic image to the image storage device 3 for storage;
s3, the image processing device 4 obtains a three-dimensional terrain feature image of the working area through fitting according to the first terrain image and the second terrain image;
s4, the path planning device 5 marks the three-dimensional topographic feature image with an obstacle and plans the working path of the automatic working device 1, so as to obtain a three-dimensional control map of the automatic working device 1.
The following description section will explain in detail a map building method for an automatic work system work area.
Step S1 specifically includes:
s11, the automatic working device 1 and the path planning device 5 are connected in a communication mode, so that the automatic working device 1 is controlled to move and work through the cooperation of the path planning device 5 and the control unit 12;
s12, controlling the automatic working device 1 to move along the boundary of the working area through the manipulation unit 53, and controlling the image acquisition device 2 to scan the boundary environment image of the surrounding working area and store in the image storage device 3;
s13, the data processing unit 52 receives and integrates the boundary environment image in the image storage 3 to be displayed in the display unit 50;
s14, the user compares the boundary environment image displayed by the display unit 50 with the actual situation of the boundary of the working area to correct the boundary environment image to obtain the first topographic feature image of the boundary of the working area, and stores the first topographic feature image in the image storage device 3.
In step S11, the same path planning device 5 may be in communication with a plurality of automatic working devices 1, and the same automatic working device 1 may also be in communication with a plurality of path planning devices 5, and further, one automatic working device 1 may only receive control of one path planning device 5 at the same time, so as to ensure stable operation of the automatic working device 1.
Step S2 specifically includes:
s21, controlling the automatic working device 1 to move in the boundary range of the working area through the path planning device 5, scanning the working environment image in the working area through the image acquisition device 2, and storing the image in the image storage device 3;
s22, the data processing unit 52 receives the working environment image in the image storage device 3 and integrates it to display in the display unit 50;
s23, the user compares the working environment image displayed on the display unit 50 with the actual situation inside the working area, and corrects the internal environment image to obtain the second topographic feature image inside the working area, which is then transmitted to the image storage device 3 for storage.
It should be noted that, in step S2, the automatic working device 1 may walk randomly within the boundary line of the working area, or may walk according to a certain path under the control of the path planning device 5, and further, when the user compares the actual conditions of the working environment image and the inside of the working area and finds that the working environment image has a defect/defect, the user may control the automatic working device 1 to return to a corresponding position through the manipulating unit 53 to perform rescanning of the working environment image, so as to ensure the accuracy and integrity of the finally obtained three-dimensional control map.
Step S3 specifically includes: the path planning device 5 receives the first topographic feature image of the working area boundary obtained by fitting in step S1 and the second topographic feature image of the inside of the working area obtained by fitting in step S2, and obtains a three-dimensional topographic feature image of the working area by fitting according to the position information and the environment information in the first topographic feature image and the second topographic feature image.
Step S4 specifically includes:
s41, the user corrects the three-dimensional topographic feature image of the working area by comparing the three-dimensional topographic feature image of the working area displayed on the display unit 50 with the actual topographic condition of the working area;
s42, selecting a marking reference object and setting a marking reference coordinate in the three-dimensional terrain feature image through the data processing module 52 and the reference marking unit 54 by the user, and marking a fixed obstacle in the three-dimensional terrain feature image;
s43, planning the working path in the three-dimensional terrain feature image through the data processing module 52 to finally obtain the three-dimensional control map of the automatic working device 1.
In step S4, the working path of the automatic working device 1 may be provided in plurality at the same time, and thus the automatic working device 1 may randomly select the working path to perform the gardening work, so as to avoid the occurrence of indentations in the working area due to a single repeated working path.
When the automatic working system 100 of the present invention is used, firstly, the automatic working device 1 is controlled by the path planning device 5 to obtain the three-dimensional control map of the automatic working device 1 in the working area according to the control map establishing method of the working area of the automatic working system; after the three-dimensional control map is successfully acquired, the automatic working device 1 moves in a working area according to a working path and completes a corresponding garden work task; furthermore, because the three-dimensional control map comprises a plurality of working paths, the control unit 12 can set the automatic working device 1 to complete garden work tasks along different working paths, thereby ensuring that the automatic working device 1 can smoothly complete the garden work tasks and effectively avoiding the generation of indentations in a working area caused by a single repeated working path. That is, in the present invention, when the automatic working device 1 travels along the working path, the selection schemes of the plurality of working paths may be set by the control unit 12, so that the selection of the plurality of working paths may be performed randomly or in a certain order.
Furthermore, the distance between the automatic working device 1 and the charging device 6 can be measured and calculated in real time by arranging the data processing module 52 capable of running the grid algorithm, and when the electric quantity of the automatic working device 1 is insufficient, the automatic working device 1 can be controlled to efficiently and quickly return to the charging device 6 for charging, so that abnormal use caused by insufficient electric quantity of the automatic working device 1 is avoided.
In summary, the automatic working system 100 of the present invention, by setting the image acquisition device 2 connected to the automatic working device 1 and the path planning device 5 in signal connection with the automatic working device 1, enables the automatic working device 1 to obtain a topographic image of a working area, further obtains a three-dimensional topographic feature image of the working area through topographic image fitting, and then sets/adjusts a working path/charging regression path of the automatic working device 1 through the path planning device 5, and finally obtains a three-dimensional control map of the working area of the automatic working device 1; due to the arrangement, on one hand, the drawing precision of the three-dimensional control map of the working area of the automatic working system 100 is effectively improved; on the other hand, the influence of the single and repeated working path/charging return path of the automatic working device 1 on the landform of the working area in the operation process is effectively avoided, and the practicability of the automatic working system 100 is further improved.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (10)
1. An automatic work system comprising an automatic work device for moving and performing garden work tasks within a work area, characterized in that: the automatic working system further comprises an image acquisition device, an image processing device in communication connection with the image acquisition device, an image storage device in signal connection with the image acquisition device and the image processing device respectively, and a path planning device for planning and acquiring a walking path of the automatic working device in a working area, wherein the image acquisition device is connected to the automatic working device and used for acquiring a terrain image in the working area and transmitting the terrain image to the image storage device for storage, and the image processing device is used for forming a three-dimensional terrain feature image of the working area according to the terrain image in a fitting manner and acquiring a three-dimensional control map of the working area in a fitting manner under the processing action of the path planning device.
2. The automatic work system according to claim 1, wherein: the automatic working device comprises a machine shell, a control unit, a power supply unit and a working unit, wherein the control unit, the power supply unit and the working unit are contained in the machine shell, the image acquisition device is connected and installed on the machine shell, the rotating angle of the image acquisition device on the horizontal plane is 360 degrees, and the pitch angle is-15-60 degrees.
3. The automatic work system according to claim 2, wherein: the control unit is used for controlling the operation and the work of the automatic working device and comprises a control circuit board, a driving motor, a driving wheel and a driven wheel, wherein the control circuit board, the driving motor, the driving wheel and the driven wheel are accommodated in the shell, the driving wheel is positioned behind the shell, and the driven wheel is positioned in front of the shell.
4. The automatic work system according to claim 1, wherein: the terrain image comprises position information and environment information of each position in the working area, and the image processing device is used for acquiring the position information and the environment information so as to obtain a three-dimensional terrain feature image of the working area of the automatic working device in a fitting mode.
5. The automatic work system according to claim 1, wherein: the path planning device is respectively in communication connection with the automatic working device, the image acquisition device and the image storage device, comprises a display unit and a path planning unit, is in communication connection with the image storage device, and is used for displaying a three-dimensional terrain feature image or a three-dimensional control map obtained by the image acquisition device in a fitting manner.
6. The automatic work system according to claim 5, wherein: the path planning unit comprises a data processing unit and a control unit, the data processing unit is respectively in communication connection with the automatic working device and the image acquisition device, and position information and environment information in the moving process of the automatic working device are acquired in real time through the image acquisition device so as to adjust the three-dimensional terrain feature image and plan a working path of the automatic working device.
7. The automatic work system according to claim 6, wherein: the control unit is respectively in communication connection with a driving device and a working device of the automatic working device and is used for controlling the driving device to drive the automatic working device to move in a working area.
8. The automatic work system according to claim 5, wherein: the path planning device further comprises a reference marking unit, the reference marking unit is used for calibrating a marking reference object and setting a marking reference coordinate, and the data processing unit marks the obstacle in the three-dimensional terrain feature image through the marking reference object and the marking reference coordinate.
9. The automatic work system according to claim 1, wherein: the path planning device can set the boundary of a working area on the three-dimensional terrain characteristic image and/or the path for charging when the automatic working device returns to the set position.
10. A method for creating a control map of a work area of an automatic work system, the automatic work system being the automatic work system according to any one of claims 1 to 9, and an automatic work device being movable and operable within a defined work area, the method comprising the steps of:
s1, the automatic working device is driven by the control unit to walk on the boundary of the working area so as to obtain a first terrain image of the boundary of the working area, and the first terrain image is stored in the image storage device;
s2, the automatic working device receives the control signal of the control unit, and walks randomly within the boundary range of the working area to obtain a second topographic image inside the working area and transmits the second topographic image to the image storage device for storage;
s3, the image processing device obtains a three-dimensional terrain feature image of the working area in a fitting mode according to the first terrain image and the second terrain image;
and S4, marking the three-dimensional terrain feature image by an obstacle through the path planning device, and planning the working path of the automatic working device so as to obtain a three-dimensional control map of the automatic working device.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415998A (en) * | 2020-10-26 | 2021-02-26 | 珠海市一微半导体有限公司 | Obstacle classification and obstacle avoidance control system based on TOF camera |
| CN113641172A (en) * | 2020-04-27 | 2021-11-12 | 科沃斯机器人股份有限公司 | Autonomous mobile device, refilling method, and storage medium |
| CN116088533A (en) * | 2022-03-24 | 2023-05-09 | 未岚大陆(北京)科技有限公司 | Information determination method, remote terminal, device, mower and storage medium |
-
2019
- 2019-10-24 CN CN201911016774.2A patent/CN110727270A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113641172A (en) * | 2020-04-27 | 2021-11-12 | 科沃斯机器人股份有限公司 | Autonomous mobile device, refilling method, and storage medium |
| CN112415998A (en) * | 2020-10-26 | 2021-02-26 | 珠海市一微半导体有限公司 | Obstacle classification and obstacle avoidance control system based on TOF camera |
| CN116088533A (en) * | 2022-03-24 | 2023-05-09 | 未岚大陆(北京)科技有限公司 | Information determination method, remote terminal, device, mower and storage medium |
| CN116088533B (en) * | 2022-03-24 | 2023-12-19 | 未岚大陆(北京)科技有限公司 | Information determination method, remote terminal, device, mower and storage medium |
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