CN112558595A - 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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- CN112558595A CN112558595A CN201910842081.2A CN201910842081A CN112558595A CN 112558595 A CN112558595 A CN 112558595A CN 201910842081 A CN201910842081 A CN 201910842081A CN 112558595 A CN112558595 A CN 112558595A
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- G05D1/02—Control of position or course in two dimensions
Abstract
The invention discloses an automatic working system, automatic walking equipment, a control method thereof and a computer readable storage medium, wherein the control method comprises the following steps: receiving an arrival signal when the automatic walking equipment approaches or arrives at a steering boundary; controlling the automatic walking equipment to stop advancing and rotate towards a preset direction; in the process of rotating towards a preset direction, acquiring a real-time steering image of the front side of the automatic walking equipment; judging whether the advancing direction of the automatic walking equipment is parallel to a steering boundary according to the color layout in the real-time steering image; if the traveling direction of the automatic traveling equipment is parallel to the steering boundary, the automatic traveling equipment is controlled to stop steering, and the automatic traveling equipment is controlled to travel along the steering boundary and work. According to the control method, the real-time steering image is firstly obtained in the steering process, and whether the automatic walking equipment is parallel to the steering boundary or not is judged through the color layout in the real-time steering image, so that the control is simpler and more accurate.
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, 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: receiving an arrival signal when the automatic walking equipment approaches or arrives at a steering boundary; controlling the automatic walking equipment to stop advancing and rotate towards a preset direction; in the process of rotating towards a preset direction, acquiring a real-time steering image of the front side of the automatic walking equipment; judging whether the advancing direction of the automatic walking equipment is parallel to a steering boundary according to the color layout in the real-time steering image; if the traveling direction of the automatic traveling equipment is parallel to the steering boundary, the automatic traveling equipment is controlled to stop steering, and the automatic traveling equipment is controlled to travel along the steering boundary and work.
As a further improvement of the present invention, the step of "judging whether the traveling direction of the automatic walking device is parallel to the turning boundary based on the layout of colors in the real-time turning image" includes: judging the range of the boundary according to the layout of the colors in the real-time steering image; calculating a ratio R1 between the area of the boundary in the live steering image and the total area of the live steering image; when R1 is equal to or less than V1, the traveling direction of the automatic traveling apparatus is judged to be parallel to the steering boundary.
As a further improvement of the present invention, the step of "judging the range of the boundary based on the layout of colors in the real-time turned image" includes: detecting or acquiring the color of the boundary; converting the real-time steering image into an HSV format, an HSI format or an LAB format; and acquiring a set M of pixel points of all colors presenting the boundary in the real-time steering image.
As a further improvement of the present invention, the step of "judging whether the traveling direction of the automatic walking device is parallel to the turning boundary based on the layout of colors in the real-time turning image" includes: detecting or acquiring the color of the boundary; converting the real-time steering image into an HSV format, an HSI format or an LAB format; acquiring a set M of pixel points of all colors presenting boundaries in a real-time steering image; calculating a ratio R1' between the number of the pixel points in the set M and the total number of the pixel points in the real-time steering image; when R1' is less than or equal to V1, the traveling direction of the automatic walking device is judged to be parallel to the steering boundary.
As a further improvement of the present invention, the step of "receiving an arrival signal when the autonomous walking apparatus approaches or arrives at the turning boundary" includes: acquiring a real-time forward image of the automatic walking equipment along a traveling direction; judging the range of the boundary according to the layout of the colors in the real-time forward image; calculating a ratio R2 between the area of the boundary in the real-time advance image and the total area of the real-time advance image; when R2 is greater than or equal to V2, the automatic walking device is judged to approach or reach the steering boundary.
As a further improvement of the present invention, the step of "acquiring a real-time advance image of the automatic walking device in the direction of travel" includes: and controlling the automatic walking device to travel and work along an initial boundary, which is adjacent to the steering boundary.
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, wherein the computer program, when executed by a processor, implements the steps in the control method of an automatic walking device as described above.
To solve one of the above problems, the present invention provides an automatic working system, comprising: the automatic walking equipment can realize the steps in the control method of the automatic walking equipment; and a border which is annularly arranged and forms a working area for limiting the automatic walking device, wherein the color of the border is different from the color of the ground.
As a further development of the invention, the boundary extends upwards from the ground or is laid on the ground.
Compared with the prior art, the control method provided by the invention has the advantages that the real-time steering image is firstly obtained in the steering process, and whether the automatic walking equipment is parallel to the steering boundary or not is judged through the color layout in the real-time steering image, so that the control is simpler and more accurate.
Drawings
Fig. 1 is a flowchart of a control method of an 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, the present invention provides an automatic working system, an automatic traveling apparatus, and a control method thereof, the automatic working system including a boundary arranged in a ring shape and an automatic traveling apparatus capable of traveling and working within the boundary. The boundary is generally formed by connecting a plurality of partial boundaries, and therefore, in order to allow the automatic walking device to walk and work along the boundary, the position of the boundary must be identified. Specifically, the control method of the present invention includes:
receiving an arrival signal when the automatic walking equipment approaches or arrives at a steering boundary;
controlling the automatic walking equipment to stop advancing and rotate towards a preset direction;
then, in the process of rotating towards the preset direction, acquiring a real-time steering image of the front side of the automatic walking equipment;
judging whether the advancing direction of the automatic walking equipment is parallel to a steering boundary according to the color layout in the real-time steering image;
if the traveling direction of the automatic traveling equipment is parallel to the steering boundary, the automatic traveling equipment is controlled to stop steering, and the automatic traveling equipment is controlled to travel along the steering boundary and work.
In the present invention, the turning boundary, which is a part of the boundary, is preset. In the invention, after the automatic walking equipment approaches or reaches the steering boundary, if the automatic walking equipment needs to continue walking along the boundary, the automatic walking equipment needs to rotate towards the preset direction. In the rotating process, a real-time steering image of the front side of the automatic walking equipment is obtained, and in the technical scheme of the invention, whether the automatic walking equipment is steered to the advancing direction to be parallel to the steering boundary or not can be judged by analyzing the color layout of the real-time steering image. After the parallelism is judged, the automatic walking equipment can travel and work along the steering boundary.
The control method is used for controlling the automatic walking equipment to walk and work along the boundary, namely, after the automatic walking equipment reaches the turning boundary, the automatic walking equipment is controlled to turn and the advancing direction of the automatic walking equipment is parallel to the turning boundary, so that the automatic walking equipment can walk along the turning boundary, namely, along the turning boundary, and if the control method is continuously used, the automatic walking equipment can always walk along the boundary until the automatic walking equipment works for a circle along the boundary. In the control method of the mower, the automatic walking equipment can mow along the boundary to prevent the occurrence of uneven boundary mow.
In addition, in the control method, the real-time steering image is firstly obtained in the steering process, and whether the automatic walking equipment is parallel to the steering boundary is judged through the color layout in the real-time steering image, so that the control is simpler and more accurate. Because the color distribution of the boundary and the ground in the automatic working system is obviously different, the method for analyzing the color layout can be adopted to judge whether the advancing direction of the automatic walking equipment is parallel to the steering boundary. Specifically, it will be described later.
Specifically, in an embodiment, the step of "determining whether the traveling direction of the automatic walking device is parallel to the steering boundary according to the layout of the colors in the real-time steering image" includes:
judging the range of the boundary according to the layout of the colors in the real-time steering image;
calculating a ratio R1 between the area of the boundary in the live steering image and the total area of the live steering image;
when R1 is equal to or less than V1, the traveling direction of the automatic traveling apparatus is judged to be parallel to the steering boundary.
It is apparent that when the automated walking device has approached or reached the turning boundary, since the automated walking device has come very close to the boundary, the area of the boundary in the real-time turning image taken at the beginning of the automated walking device accounts for a large ratio of R1 in the total area of the real-time turning image. And during the steering, the proportion of the area of the boundary in the total area of the real-time steering image R1 is gradually reduced.
For example, if the automatic walking device rotates towards the left side, the range of the boundary in the real-time steering image gradually decreases from left to right in the steering process of the automatic walking device, and after the steering is completed, the range of the boundary is only at the right side of the real-time steering image or is not at all; if the automatic walking equipment rotates towards the right side, the range of the boundary in the real-time steering image is gradually reduced from the right side to the left side in the steering process of the automatic walking equipment, and after the steering is finished, the range of the boundary is only on the left side of the real-time steering image or is not at all. Therefore, the value of the threshold V1 is small, and specifically, the value of the threshold V1 is determined by factors such as the mounting position of the imaging device on the self-propelled apparatus, and the position at which steering of the self-propelled apparatus is started.
Further, as shown in fig. 1, the step of "determining the range of the boundary according to the layout of the colors in the live-view image" includes:
detecting or acquiring the color of the boundary;
converting the real-time steering image into an HSV format, an HSI format or an LAB format;
and acquiring a set M of pixel points of all colors presenting the boundary in the real-time steering image.
Therefore, after the set M is obtained, the range of the boundary in the real-time steering image can be obtained, and then, as described above, the ratio between the range of the boundary and the total area of the real-time steering image is calculated, so that the steering position of the automatic walking device can be judged.
In the above steps, the present invention may detect the color of the boundary by performing image analysis and color extraction in the live-steered image or other images, or may directly acquire the color of the boundary in the memory.
The reason for converting the real-time steering image into the HSV format, the HSI format, or the LAB format in the above steps is to enable color detection to be more convenient, so as to accurately obtain the set M.
Of course, if other methods are adopted, such as Hough transformation straight line detection and straight line fitting, region growing algorithm based on region segmentation, k-means clustering algorithm, etc., the range of the boundary can also be obtained, and then the area ratio can be judged.
Or, in another embodiment of the present invention, the ratio R1' between the number of the pixels in the set M and the total number of the pixels in the real-time rotated image may be directly calculated after the set M is obtained, and the range and the area of the boundary are not calculated additionally. Specifically, the step of judging whether the traveling direction of the automatic walking equipment is parallel to the steering boundary according to the layout of the colors in the real-time steering image comprises the following steps of:
detecting or acquiring the color of the boundary;
converting the real-time steering image into an HSV format, an HSI format or an LAB format;
acquiring a set M of pixel points of all colors presenting boundaries in a real-time steering image;
calculating a ratio R1' between the number of the pixel points in the set M and the total number of the pixel points in the real-time steering image;
and when R1' is less than or equal to V1, judging that the walking direction of the automatic walking device is parallel to the steering boundary.
The threshold V1 is the same as the threshold V1, and is the ratio of the range of the boundary in the live-steer image to the range of the boundary in the live-steer image. In the technical scheme of the invention, after the set M of the pixel points presenting the color of the boundary is obtained, the number of the pixel points in the set M is counted, and then the ratio R1' is directly calculated with the total pixel points in the real-time steering image. In this embodiment, the area of the range does not need to be calculated, but the ratio R1' between the numbers of the pixels is directly calculated after the set M is obtained, which can achieve the same effect as the first embodiment.
As described above, the control method of the automatic traveling apparatus in the steering process according to the present invention is further analyzed below.
Specifically, the step of receiving an arrival signal when the automatic walking device approaches or arrives at the turning boundary includes:
acquiring a real-time forward image of the automatic walking equipment along a traveling direction;
judging the range of the boundary according to the layout of the colors in the real-time forward image;
calculating a ratio R2 between the area of the boundary in the real-time advance image and the total area of the real-time advance image;
when R2 is greater than or equal to V2, the automatic walking device is judged to approach or reach the steering boundary.
Similarly, in the invention, whether the automatic walking device approaches or reaches the steering boundary is judged by similarly judging the area ratio of the boundary in the real-time forward image.
The automatic walking device is in the process of advancing along the traveling direction, namely the process of continuously approaching the boundary. Then in the present real-time mode, the automatic walking device approaches the turning boundary, and a real-time forward image is taken during the approach. Thus, in the real-time forward image, the turning boundaries are distributed in the upper region; in addition, in the process of approaching the turning boundary, the distribution range of the turning boundary on the real-time advancing image is gradually enlarged from top to bottom. Therefore, when the above-mentioned ratio R2 becomes larger than the threshold value V2, it indicates that the automatic walking device has approached or reached the turning boundary. Of course, it is clear that the threshold V2 > the threshold V1.
In addition, in the above-described scheme, the boundary range may still be determined by the similar methods such as the color detection, Hough transformation line detection and line fitting, region growing algorithm based on region segmentation, and k-means clustering algorithm.
In addition, the step of "acquiring a real-time advance image of the automatic walking device along the advancing direction" includes: and controlling the automatic walking device to travel and work along an initial boundary, which is adjacent to the steering boundary. That is, the automatic walking device has traveled and worked in the direction of the initial boundary before the automatic walking device approaches or reaches the turning boundary, where the automatic walking device may be caused to travel and work along the initial boundary by artificial placement, or some automatic recognition method, such as the above-described judgment of the color layout, may be used to cause the automatic walking device to travel along the initial boundary. Of course, the initial boundary and the turning boundary must be contiguous in order for the self-propelled device to travel along the initial boundary and turn back and continue along the turning boundary.
Of course, the self-propelled device may not initially travel along the initial boundary, but rather may move randomly within the work area. For example, in one embodiment, if the autonomous traveling apparatus travels randomly within the work area, the autonomous traveling apparatus and the traveling direction turn to the boundary and perform the subsequent operations after receiving the trimming instruction.
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 steps of the control method of the automatic walking equipment can be realized when the processor executes the computer program.
Specifically, the processor is used for controlling the automatic walking equipment to stop advancing and rotate towards a preset direction after receiving an arrival signal when the automatic walking equipment approaches or arrives at a steering boundary;
the automatic walking device further comprises:
the camera device is used for shooting the front side of the automatic walking equipment in real time and forming a real-time steering image in the process of rotating towards the preset direction; the processor is in communication connection with the camera device and can judge whether the advancing direction of the automatic walking equipment is parallel to the steering boundary according to the color layout in the real-time steering image, and if the advancing direction of the automatic walking equipment is judged to be parallel to the steering boundary, the automatic walking equipment is controlled to advance along the steering boundary and work.
The automatic walking equipment comprises a camera device for shooting a real-time steering image, so that the automatic walking equipment can be matched with a processor and can walk and work along a steering boundary after steering, which corresponds to the control method and is not described again.
Similarly, in an embodiment, the processor may further determine the range of the boundary according to the layout of the colors in the live steering image, and the automatic walking device further includes a calculating module connected to the processor, where the calculating module is configured to calculate a ratio R1 between the area of the boundary in the live steering image and the total area of the live steering image; and when R1 is less than or equal to V1, the processor judges that the traveling direction of the automatic walking device is parallel to the steering boundary. And, further, the processor includes a format conversion unit to convert the live-steered 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 M of all pixel points presenting the color of the boundary in the real-time steering image.
Correspondingly, or, in another embodiment, the processor includes a format conversion unit, a color detection unit and a calculation module, wherein the format conversion unit is used for converting the real-time turning 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 M of all pixel points presenting the color of the boundary in the real-time steering image; the calculating module is used for calculating a ratio R1' between the number of the pixel points in the set M and the total number of the pixel points in the real-time steering image; and when R1' is less than or equal to V1, the traveling direction of the automatic walking device is judged to be parallel to the steering boundary.
Further, as described above, before the automatic walking device receives the arrival signal, it is necessary to determine whether the automatic walking device approaches or arrives at the turning boundary. Specifically, the camera device may be further configured to obtain a real-time forward image of the automatic walking device along the traveling direction, the processor may further determine the range of the boundary according to the layout of the colors in the real-time forward image, and the calculation module may further be configured to calculate a ratio R2 between the area of the boundary in the real-time forward image and the total area of the real-time forward image; and when R2 is more than or equal to V2, the automatic walking equipment is judged to approach or reach the steering boundary. And further, the format conversion unit and the color detection unit can also be applied to real-time progressive images.
In addition, the processor may be further configured to control the automated walking device to travel and operate along the initial boundary prior to steering.
In addition, the present invention also 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 as described above. In particular, it is not described herein in detail.
The invention also provides an automatic working system of the automatic walking equipment, which comprises: the self-propelled device and the boundary as described above. As described above, the boundary is annularly arranged and forms a working area for defining the automatic walking apparatus, and the color of the boundary is different from the ground, so that the boundary and the ground can be clearly displayed on the real-time steering image or the real-time forward image. The boundary may extend from or lay on the ground. If the boundary extends upwards from the floor, the boundary may consist of rails, the bottom of which can be inserted into the floor or placed on the floor, and a fence connected between the rails.
Therefore, in summary, the present invention provides an automatic working system, an automatic traveling apparatus, a control method thereof, and a computer-readable storage medium, in which a real-time steering image is obtained by taking a real-time photograph of the front side of the automatic traveling apparatus during steering, and whether the traveling direction of the automatic traveling apparatus is parallel to a steering boundary is determined according to color distribution in the real-time steering image, and the automatic traveling apparatus is controlled to travel and work along the boundary. Therefore, the automatic walking equipment can walk and work along the steering boundary by the image color judging method, the judgment is easier, and the method can be applied to an automatic working system with obviously different boundaries and ground, so that the function of the automatic working system is further improved.
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:
receiving an arrival signal when the automatic walking equipment approaches or arrives at a steering boundary;
controlling the automatic walking equipment to stop advancing and rotate towards a preset direction;
in the process of rotating towards a preset direction, acquiring a real-time steering image of the front side of the automatic walking equipment;
judging whether the advancing direction of the automatic walking equipment is parallel to a steering boundary according to the color layout in the real-time steering image;
if the traveling direction of the automatic traveling equipment is parallel to the steering boundary, the automatic traveling equipment is controlled to stop steering, and the automatic traveling equipment is controlled to travel along the steering boundary and work.
2. The control method according to claim 1, wherein the step of "judging whether the traveling direction of the automatic walking device is parallel to the turning boundary based on the layout of colors in the real-time turning image" comprises:
judging the range of the boundary according to the layout of the colors in the real-time steering image;
calculating a ratio R1 between the area of the boundary in the live steering image and the total area of the live steering image;
when R1 is equal to or less than V1, the traveling direction of the automatic traveling apparatus is judged to be parallel to the steering boundary.
3. The control method according to claim 2, characterized in that: the step of judging the range of the boundary according to the layout of the colors in the real-time steering image comprises the following steps:
detecting or acquiring the color of the boundary;
converting the real-time steering image into an HSV format, an HSI format or an LAB format;
and acquiring a set M of pixel points of all colors presenting the boundary in the real-time steering image.
4. The control method according to claim 1, characterized in that: the step of judging whether the advancing direction of the automatic walking equipment is parallel to the steering boundary according to the layout of the colors in the real-time steering image comprises the following steps of:
detecting or acquiring the color of the boundary;
converting the real-time steering image into an HSV format, an HSI format or an LAB format;
acquiring a set M of pixel points of all colors presenting boundaries in a real-time steering image;
calculating a ratio R1' between the number of the pixel points in the set M and the total number of the pixel points in the real-time steering image; when R1' is less than or equal to V1, the traveling direction of the automatic walking device is judged to be parallel to the steering boundary.
5. The control method according to claim 1, characterized in that: the step of receiving an arrival signal when the automatic walking equipment approaches or arrives at a turning boundary comprises the following steps:
acquiring a real-time forward image of the automatic walking equipment along a traveling direction;
judging the range of the boundary according to the layout of the colors in the real-time forward image;
calculating a ratio R2 between the area of the boundary in the real-time advance image and the total area of the real-time advance image;
when R2 is greater than or equal to V2, the automatic walking device is judged to approach or reach the steering boundary.
6. The control method according to claim 5, characterized in that: the step of obtaining the real-time advance image of the automatic walking equipment along the advancing direction comprises the following steps:
and controlling the automatic walking device to travel and work along an initial boundary, which is adjacent to the steering boundary.
7. 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 6 can be realized when the processor executes the computer program.
8. 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 6.
9. An automatic work system, characterized by comprising:
an automatic walking device that can realize the steps in the control method of the automatic walking device according to any one of claims 1 to 6;
and a border which is annularly arranged and forms a working area for limiting the automatic walking device, wherein the color of the border is different from the color of the ground.
10. The automated work system according to claim 9, wherein the boundary extends upwardly from or lays on the ground.
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| CN201910842081.2A CN112558595A (en) | 2019-09-06 | 2019-09-06 | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium |
| PCT/CN2019/115266 WO2021042486A1 (en) | 2019-09-06 | 2019-11-04 | Automatic working system, automatic walking device and control method therefor, and computer readable storage medium |
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| CN201910842081.2A CN112558595A (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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