CN112558596A - Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium - Google Patents
Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium Download PDFInfo
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- CN112558596A CN112558596A CN201910842082.7A CN201910842082A CN112558596A CN 112558596 A CN112558596 A CN 112558596A CN 201910842082 A CN201910842082 A CN 201910842082A CN 112558596 A CN112558596 A CN 112558596A
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- 230000004888 barrier function Effects 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 abstract description 5
- 230000006872 improvement Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
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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
- 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
- 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
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Abstract
An automatic work system, an automatic walking apparatus, a control method thereof, and a computer-readable storage medium, the control method comprising: acquiring a captured image having at least a partial boundary; judging whether the boundary is reached or approached according to the fence graph on the shot 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. Thus, the boundary can be built on the ground, and the automatic walking equipment can be enabled to identify the boundary and carry out the control of the next step. Moreover, the fence graph on the shot image shot by the automatic walking equipment can enable the automatic walking equipment to better distinguish the boundary and the ground in the recognition process, so that the control is more sensitive and the error rate is low.
Description
Technical Field
The present invention relates to the field of intelligent control, and in particular, to an automatic work system, an automatic walking device, a control method thereof, and a computer-readable storage medium.
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 that is convenient and can be set up on the ground, and a corresponding automatic walking device, a control method thereof, and a computer-readable storage medium.
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 captured image having at least a partial boundary; judging whether the boundary is reached or approached according to the fence graph on the shot 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 "acquiring a captured image having at least a partial boundary" includes before: shooting the front side of the automatic walking device to form a shot image; it is determined whether a boundary is included in the captured image.
As a further improvement of the present invention, the step of "judging whether to reach or approach the boundary based on the barrier pattern on the captured image" includes: carrying out gray level calculation on the shot image and extracting a gray level image; calculating the gray level image to generate a texture feature image containing a fence graph; extracting an edge image containing a fence graph from the texture feature image; performing linear fitting on the edge image to form a boundary line; and judging the position of the boundary according to the boundary line.
As a further improvement of the present invention, the step of "judging the position of the boundary from the boundary line" includes: calculating the linear distance l from the automatic walking equipment to the boundary line; and if l is less than the threshold d, judging that the automatic walking equipment reaches or approaches the boundary.
As a further improvement of the present invention, the texture feature image is any one of an energy texture feature image, an entropy texture feature image, a contrast texture feature image, and a correlation texture feature image.
To solve one of the above problems, the present invention provides an automatic working system, comprising: an automatic walking device operable according to the control method as described above; and the boundary is arranged in an annular shape and forms a working area for limiting the automatic walking equipment, and the boundary is a fence.
As a further improvement of the present invention, the barrier includes at least one transverse rail disposed along the horizontal direction and at least one longitudinal rail disposed vertically and connected to the transverse rail.
To solve one of the above problems, the present invention provides an automatic working system, comprising: an automatic walking device operable according to the control method as described above; the boundary is annularly enclosed and forms a working area for limiting the automatic walking equipment, the boundary comprises boundary piles which are arranged at intervals and extend upwards from the ground and an enclosure which is connected between the adjacent boundary piles, and fence patterns are formed on the enclosure.
As a further improvement of the present invention, the barrier pattern includes at least one horizontal segment extending in a horizontal direction and at least one vertical segment disposed vertically and connected to the horizontal segment.
In order to solve one of the above problems, the present invention provides an automatic walking device, including a body, a walking module, a power module, a memory and a processor, where the memory and the processor are disposed in the body, the memory stores a computer program capable of running on the processor, and the processor executes the computer program to implement the steps of the control method of the automatic walking device.
In order to solve one of the above problems, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the control method of an automatic walking device described above.
Compared with the prior art, the boundary can be built on the ground, and the automatic walking equipment can also be used for identifying the boundary and carrying out the next step of control. Moreover, the fence graph on the shot image shot by the automatic walking equipment can enable the automatic walking equipment to better distinguish the boundary and the ground in the recognition process, so that the control is more sensitive and the error rate is lower.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a second technical solution of 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, in a first technical solution, the present invention provides an automatic work system, an automatic walking device and a corresponding computer-readable storage medium. The automatic work system includes:
an automatic walking device;
and the boundary is arranged in an annular shape and forms a working area for limiting the automatic walking equipment, and the boundary is a fence 1.
In the present invention, in order to allow the self-propelled device to better recognize the boundary, the fence 1 is composed of a plurality of rule units. Specifically, the rule units are repeated and continuously arranged. Of course, if the rule units are not repeatedly arranged, the requirements of the present invention can be met as long as the objects of the present invention are satisfied.
Specifically, the fence 1 includes at least one horizontal rail 11 arranged along the horizontal direction and at least one longitudinal rail 12 vertically connected to the horizontal rail 11. In this embodiment, as shown in fig. 1, two transverse railings 11 are arranged from top to bottom, two longitudinal railings 12 are arranged at intervals, the intervals between two longitudinal railings are equal, and the heights of the longitudinal railings 12 are also the same. Therefore, the regular units include the longitudinal rails 12 and the transverse rails 11, the barrier 1 includes the regular units, and the transverse rails 11 and the longitudinal rails 12 both extend linearly. If the transverse railings 11 or the longitudinal railings 12 are wavy, zigzag or in other shapes, the purpose of the present invention can be achieved.
As shown in fig. 2, in a second technical solution, the present invention further provides an automatic working system, which includes:
an automatic walking device;
the boundary is arranged in an annular shape and forms a working area for limiting the automatic walking equipment, the boundary comprises boundary piles 2 which are arranged at intervals and extend upwards from the ground and barriers 3 connected between the adjacent boundary piles 2, and fence patterns 4 are formed on the barriers 3.
In the present invention, also, in order to allow the self-walking apparatus to better recognize the boundary, the barrier pattern 4 is composed of a plurality of regular units. Specifically, the rule units are repeated and continuously arranged. Of course, if the rule units are not repeatedly arranged, the requirements of the present invention can be met as long as the objects of the present invention are satisfied.
Specifically, the barrier pattern 4 includes at least one horizontal block 41 extending along a horizontal direction and at least one vertical block 42 disposed vertically and connected to the horizontal block 41. In this embodiment, as shown in fig. 2, two transverse pattern blocks 41 are arranged from top to bottom, two longitudinal pattern blocks 42 are arranged at intervals, the intervals between two longitudinal pattern blocks are equal, and the heights of the longitudinal pattern blocks are also the same. Thus, the regular units include the longitudinal blocks 42 and the transverse blocks 41, the barrier pattern 4 includes the regular units, and the transverse blocks 41 and the longitudinal blocks 42 extend linearly. The object of the present invention can also be achieved if the transverse segments 41 or the longitudinal segments 42 are wavy, zigzag, or have other shapes.
Of course, in this embodiment, in order to enable the barrier patterns 4 to be better identified in the subsequent control method, the color of the barrier patterns 4 on the enclosure 3 is obviously different from the color of the enclosure 3 except for the barrier patterns 4, specifically, for example, the color of the enclosure 3 except for the barrier patterns 4 may be green, and the color of the barrier patterns 4 may be red.
The invention also provides a control method of the automatic walking equipment, which comprises the following steps:
acquiring a captured image having at least a partial boundary;
judging whether the boundary is reached or approached according to the fence graph on the shot 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 shoots in real time in the working process, and in order to achieve the aim of the invention, at least part of boundaries are required in the shot images so as to facilitate the identification and control of the automatic walking equipment. If the shot image has no boundary, the fact that the automatic walking equipment is far away from the boundary is indicated. Because the border in the first technical scheme is the fence 1, and in the second technical scheme, the border comprises the enclosure 3, and the fence pattern 4 is formed on the enclosure 3, for the shot image obtained by the automatic walking equipment, the shot image has the fence pattern.
Thus, the boundary can be built on the ground, and the automatic walking equipment can be enabled to identify the boundary and carry out the control of the next step. Moreover, the fence graph on the shot image shot by the automatic walking equipment can enable the automatic walking equipment to better distinguish the boundary and the ground in the recognition process, so that the control is more sensitive and the error rate is low.
Wherein the step of "acquiring a captured image having at least a partial boundary" comprises: shooting the front side of the automatic walking device to form a shot image; it is determined whether a boundary is included in the captured image. The subsequent judgment and control process may be performed only in the shot image in which at least a part of the boundary is judged.
Further, the step of "judging whether to reach or approach the boundary based on the barrier pattern on the photographed image" includes:
carrying out gray level calculation on the shot image and extracting a gray level image;
calculating the gray level image to generate a texture feature image containing a fence graph;
extracting an edge image containing a fence graph from the texture feature image;
performing linear fitting on the edge image to form a boundary line;
and judging the position of the boundary according to the boundary line.
In the embodiment, since the fence pattern has obvious texture features, the fence pattern on the shot image is clearer after the shot image is processed, and can be further processed to be fitted into the boundary line.
Specifically, in the step of performing gray level calculation on the shot image and extracting the gray level image, the shot image is converted into the gray level image according to the brightness of the color, so that the influence of the chromaticity and the saturation can be eliminated, and the subsequent analysis and judgment are facilitated.
In the step of calculating the gray level image to generate the texture feature image containing the fence graph, the gray level image is further processed, and the fence graph and the edge of the fence graph can be further highlighted after the gray level image is converted into the texture feature image because the fence graph and the peripheral patterns of the fence graph have obvious texture feature differences. In this embodiment, the texture feature image is one of an energy texture feature image, an entropy texture feature image, a contrast texture feature image, and a correlation texture feature image. In this embodiment, the gray level image may be sequentially and respectively subjected to the above processing, and then the texture feature image most suitable for extracting the edge image may be selected. In the present embodiment, an energy texture feature image is generally used.
In the step of extracting the edge image containing the fence graph from the texture feature image, the edge image can be extracted because the edge of the fence graph in the texture feature image is clearer. Edge images ideally, only the edges of the barrier pattern exist, so that the next straight line fitting can be performed. Since there is always much noise if the edge image is directly extracted from the texture feature image, which affects subsequent calculation and results, in actual operation, it is usually necessary to perform noise reduction processing on the texture feature image and then extract the edge image.
In the step of performing linear fitting on the edge image to form the boundary line, the pixels in the edge image are subjected to linear fitting after coordinates are respectively extracted. There are various methods for fitting the straight line, and in the present embodiment, a least squares fitting algorithm is used. Since the boundary in the present invention is composed of a plurality of regular units as described above, the boundary line formed after the straight line fitting is a straight line approximately parallel to the ground, and the fence or fence pattern design of the boundary can also make the position judgment of the boundary in the control method of the present invention clearer.
The step of determining the position of the boundary from the boundary line includes:
and calculating the linear distance l from the automatic walking device to the boundary line.
And if l is less than the threshold d, judging that the automatic walking equipment reaches or approaches the boundary.
After the boundary is formed, the linear distance l between the boundary line and the automatic walking equipment can be directly judged, so that the position of the automatic walking equipment is judged, and the next activity is predicted.
Of course, if l > the threshold d, it indicates that the automatic traveling apparatus is still far from the boundary, and thus the automatic traveling apparatus can be controlled to continue traveling in a straight line and to operate.
The invention also provides automatic walking equipment which comprises a body, a walking module, a power supply module, a memory and a processor, wherein the memory and the processor are arranged in the body, the memory stores a computer program capable of running on the processor, and the processor can realize the steps in the control method when executing the computer program. In particular, the unfolding is not performed here.
Alternatively, the present invention may also provide a readable storage medium storing a computer program, which when executed by a processor can also implement the steps in the control method described above. The readable storage medium can be a USB flash disk and the like, so that the readable storage medium can be removably plugged into other devices.
Therefore, in summary, the present invention provides an automatic work system, an automatic walking apparatus, a control method thereof, and a readable storage medium. The automatic working system has two technical schemes, one is that the fence 1 is integrally formed, the other one comprises a fence 3, and a fence pattern 4 is formed on the fence 3. In the two technical schemes, the boundary can be better distinguished from the ground, so that the automatic walking equipment can perform better image recognition. Specifically, in the control method of the automatic walking device, the automatic walking device can shoot in real time and judge whether to reach or approach the boundary according to the fence graph on the shot image. Furthermore, the captured image may be subjected to gray scale calculation to generate a texture feature image, and then an edge image may be extracted and a straight line may be fitted to obtain a boundary line. Therefore, the position of the automatic walking equipment can be judged. According to the invention, the control of the automatic walking equipment is more accurate and faster by arranging the fence 1 or the fence pattern 4 and combining a corresponding image recognition method.
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 (11)
1. A control method of an automatic walking device, characterized by comprising:
acquiring a captured image having at least a partial boundary;
judging whether the boundary is reached or approached according to the fence graph on the shot 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 "acquiring the captured image having at least a partial boundary" is preceded by:
shooting the front side of the automatic walking device to form a shot image;
it is determined whether a boundary is included in the captured image.
3. The control method according to claim 1, wherein the step of "judging whether to reach or approach the boundary based on the barrier pattern on the photographed image" comprises:
carrying out gray level calculation on the shot image and extracting a gray level image;
calculating the gray level image to generate a texture feature image containing a fence graph;
extracting an edge image containing a fence graph from the texture feature image;
performing linear fitting on the edge image to form a boundary line;
and judging the position of the boundary according to the boundary line.
4. The control method according to claim 3, wherein the step of "judging the position of the boundary based on the boundary line" includes:
calculating the linear distance l from the automatic walking equipment to the boundary line;
and if l is less than the threshold d, judging that the automatic walking equipment reaches or approaches the boundary.
5. The control method according to claim 3, wherein the texture feature image is any one of an energy texture feature image, an entropy texture feature image, a contrast texture feature image, and a correlation texture feature image.
6. An automatic work system, characterized by comprising:
an automatic walking device operable according to the control method of any one of claims 1 to 5; and the boundary is arranged in an annular shape and forms a working area for limiting the automatic walking equipment, and the boundary is a fence.
7. The automated work system of claim 1, wherein the barrier comprises at least one horizontal rail disposed in a horizontal direction and at least one longitudinal rail disposed perpendicular to and connected to the horizontal rail.
8. An automatic work system, characterized by comprising:
an automatic walking device operable according to the control method of any one of claims 1 to 5; the boundary is annularly enclosed and forms a working area for limiting the automatic walking equipment, the boundary comprises boundary piles which are arranged at intervals and extend upwards from the ground and an enclosure which is connected between the adjacent boundary piles, and fence patterns are formed on the enclosure.
9. The automated work system of claim 3, wherein the barrier pattern comprises at least one horizontal segment extending in a horizontal direction and at least one vertical segment disposed perpendicular and connected to the horizontal segment.
10. An automatic walking device, comprising a body, a walking module, a power module, a memory and a processor, wherein the memory and the processor are arranged in the body, the memory stores a computer program capable of running on the processor, and the steps of the control method of the automatic walking device in any one of claims 1 to 5 can be realized when the processor executes the computer program.
11. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps in the control method of an automatic walking device according to any one of claims 1 to 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910842082.7A CN112558596A (en) | 2019-09-06 | 2019-09-06 | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium |
| PCT/CN2019/115273 WO2021042487A1 (en) | 2019-09-06 | 2019-11-04 | Automatic working system, automatic travelling device and control method therefor, and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910842082.7A CN112558596A (en) | 2019-09-06 | 2019-09-06 | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium |
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| CN112558596A true CN112558596A (en) | 2021-03-26 |
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| CN201910842082.7A Pending CN112558596A (en) | 2019-09-06 | 2019-09-06 | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium |
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| CN (1) | CN112558596A (en) |
| WO (1) | WO2021042487A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114019956A (en) * | 2021-10-14 | 2022-02-08 | 科沃斯机器人股份有限公司 | Method and system for determining region boundary, autonomous traveling equipment and mowing robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114189627A (en) * | 2021-11-24 | 2022-03-15 | 河南牧原智能科技有限公司 | Method and product for acquiring preset angle of camera and monitoring breeding fence |
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| WO2021042487A1 (en) | 2021-03-11 |
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Application publication date: 20210326 |