CN117555324A - Self-mobile device and security method thereof - Google Patents

Self-mobile device and security method thereof Download PDF

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Publication number
CN117555324A
CN117555324A CN202210915817.6A CN202210915817A CN117555324A CN 117555324 A CN117555324 A CN 117555324A CN 202210915817 A CN202210915817 A CN 202210915817A CN 117555324 A CN117555324 A CN 117555324A
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China
Prior art keywords
monitored
area
self
coordinate system
mobile device
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CN202210915817.6A
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Chinese (zh)
Inventor
宋庆祥
王曦
朱永康
刘浩
蒋代红
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Ecovacs Robotics Suzhou Co Ltd
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Ecovacs Robotics Suzhou Co Ltd
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Priority to CN202210915817.6A priority Critical patent/CN117555324A/en
Publication of CN117555324A publication Critical patent/CN117555324A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Alarm Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present disclosure relates to a self-moving device and a security method thereof, a running mechanism of which is provided on a vehicle body and configured to drive the vehicle body to run in an area to be monitored; the image acquisition element is arranged on the vehicle body and is used for acquiring an environment image; the controller is electrically connected with the travelling mechanism and the image acquisition element, and the self-moving equipment at least has an automatic working mode, under the automatic working mode, the controller is configured to acquire the boundary coordinates of the area to be monitored under the world coordinate system and the image projection of the suspicious object in the environment image, acquire the three-dimensional space coordinates of the suspicious object under the world coordinate system according to the image projection, automatically judge whether the suspicious object invades the area to be monitored according to the relationship between the boundary coordinates of the area to be monitored and the three-dimensional space coordinates of the suspicious object, and the method does not need manual auxiliary judgment in the prior art, has higher intelligent level and greatly improves the use experience of users.

Description

Self-mobile device and security method thereof
Technical Field
The disclosure relates to the technical field of self-moving security, in particular to self-moving equipment and a security method thereof.
Background
With the continuous progress of modern technological level, the living standard of people is continuously improved, and automatic and intelligent self-mobile equipment is increasingly and widely applied to daily life. Intelligent devices such as cleaning robots, mowing robots and the like are continuously developed, and great convenience is brought to the life of people. However, existing self-moving devices, such as cleaning robots, mowing robots, do not have security functions.
The existing security equipment generally shoots images or video information in an area to be monitored through a camera, and transmits the images or video information to a terminal, so that a user can judge whether someone invades the area to be monitored at the terminal, that is to say, a manual auxiliary party is required to determine whether potential safety hazards exist in the area to be monitored, the security conditions in the area to be monitored cannot be independently judged by self, and the problem of low intelligent level exists.
Disclosure of Invention
In order to solve the problems in the prior art, the present disclosure provides a self-mobile device and a security method thereof.
In a first aspect, a self-mobile device of the present disclosure includes:
a vehicle body;
the travelling mechanism is arranged on the vehicle body and is configured to drive the vehicle body to travel in the area to be monitored;
the image acquisition element is arranged on the vehicle body and is used for acquiring an environment image;
the controller is electrically connected with the travelling mechanism and the image acquisition element, and is at least provided with an automatic working mode, and in the automatic working mode, the controller is configured to acquire boundary coordinates of the region to be monitored under a world coordinate system and image projections of suspicious objects in the environment image, acquire three-dimensional space coordinates of the suspicious objects under the world coordinate system according to the image projections, and judge whether the suspicious objects invade the region to be monitored according to the boundary coordinates of the region to be monitored and the three-dimensional space coordinates of the suspicious objects.
In one embodiment, the image acquisition element is a pan around camera.
In one embodiment, the controller is further configured to upload the environment image of the image projection of the suspicious object contained to a user terminal when it is determined that the suspicious object invades the area to be monitored.
In one embodiment, the controller is further configured to determine the area to be monitored.
In one embodiment, the method for determining the area to be monitored by the controller is to control the travelling mechanism to drive the vehicle body to walk one circle along the appointed area boundary, calculate the pose of the vehicle body in real time and record the boundary marked as the area to be monitored.
In one embodiment, the controller is further configured to determine a patrol path of the self-mobile device within the area to be monitored, so that the self-mobile device can walk along the patrol path in the automatic operation mode, and the self-mobile device can continuously monitor whether suspicious objects exist in the area to be monitored while walking along the patrol path.
In one embodiment, the controller is further configured to cause the self-moving device to periodically walk along the patrol path in the automatic mode of operation.
In one embodiment, the controller is further configured to determine a fixed monitoring point of at least one of the self-mobile devices and a monitoring duration of each of the fixed monitoring points within the area to be monitored, so that the self-mobile device can walk between each of the fixed monitoring points and stay at each of the fixed monitoring points for the monitoring duration in the automatic operation mode, thereby monitoring whether suspicious objects exist within the area to be monitored.
In one embodiment, the self-moving device is a lawn mowing robot.
In one embodiment, the self-mobile device further has a manual operation mode, and in the manual operation mode, the controller is configured to control the travelling mechanism to travel in the area to be monitored according to instructions, so as to judge whether a suspicious object exists in the area to be monitored through the environment image acquired by the image acquisition element.
In one embodiment, when the three-dimensional space coordinates of the suspicious object are located at one side of the boundary coordinates of the area to be monitored, which is close to the area to be monitored, in the world coordinate system, the controller judges that the suspicious object invades the area to be monitored; or alternatively, the first and second heat exchangers may be,
when the three-dimensional space coordinates of the suspicious object are located at one side of the boundary coordinates of the area to be monitored, which is far away from the area to be monitored, in a world coordinate system, the controller judges that the suspicious object does not invade the area to be monitored.
In a second aspect, a security method of a self-mobile device of the present disclosure, where the self-mobile device is specifically a self-mobile device as described in any one of the embodiments above, the security method includes the following steps:
s10: acquiring boundary coordinates of the region to be monitored under a world coordinate system;
s30: controlling the travelling mechanism to drive the vehicle body to travel in the area to be monitored, and controlling the image acquisition element to acquire an environment image;
s50: acquiring image projection of a suspicious object in the environment image, and acquiring three-dimensional space coordinates of the suspicious object under a world coordinate system according to the image projection;
s70: and judging whether the suspicious object invades the area to be monitored or not according to the boundary coordinates of the area to be monitored and the three-dimensional space coordinates of the suspicious object.
In one embodiment, step S10 further includes controlling the travelling mechanism to drive the vehicle body to walk one circle along the designated area boundary, calculating the pose of the vehicle body in real time, and recording the mark as the boundary of the area to be monitored.
In one embodiment, the step S30 includes:
and controlling the travelling mechanism to drive the vehicle body to travel along a patrol path, and controlling the image acquisition element to continuously acquire environmental images.
In one embodiment, in the step S30, the traveling mechanism is controlled to drive the vehicle body to periodically travel along the patrol path.
In one embodiment, the step S30 includes:
and controlling the travelling mechanism to drive the vehicle body to travel towards at least one fixed monitoring point, staying at each fixed monitoring point for a preset monitoring time period, and controlling the image acquisition element to acquire an environment image at the fixed monitoring point.
In one embodiment, the step S50 includes the steps of:
s501: acquiring image projection of the suspicious object in the environment image;
s503: acquiring a mathematical expression of a straight line passing through the optical center of the image acquisition element and a sampling point on the image projection of the suspicious object under a world coordinate system according to the image projection of the suspicious object;
s505: and acquiring X-direction coordinates and Y-direction coordinates of the sampling point in the world coordinate system according to the mathematical expression and the Z-direction coordinates of the sampling point in the world coordinate system.
In one embodiment, step S503 includes the steps of:
s5031: acquiring a first coordinate of an optical center of the image acquisition element under a camera coordinate system under a machine coordinate system according to the external parameters of the image acquisition element relative to the self-mobile device;
s5033: acquiring a second coordinate of the optical center of the image acquisition element under a world coordinate system according to the current pose of the self-mobile device and the first coordinate;
s5035: and constructing a mathematical expression of a straight line passing through the optical center of the image acquisition element and the sampling point on the image projection of the suspicious object under the world coordinate system according to a straight line point-to-point equation by taking the optical center of the image acquisition element under the world coordinate system as a point on the straight line, wherein a first direction vector from the sampling point to the optical center of the image acquisition element is a straight line direction.
In one embodiment, in step S3035, acquiring a first direction vector from a sampling point to an optical center of the image capturing element includes the following steps:
s50351: acquiring pixel coordinates of the sampling points in the image projection;
s50352: calculating a third coordinate of the sampling point under a camera coordinate system according to the internal reference of the image acquisition element;
s50353: under a camera coordinate system, acquiring a second direction vector from the sampling point to the optical center of the image acquisition element according to the third coordinate and the optical center coordinate of the image acquisition element;
s50354: according to the external parameters of the image acquisition element relative to the self-mobile device, converting the second direction vector in the camera coordinate system into a third direction vector in the machine coordinate system;
s50355: and converting the third direction vector in a machine coordinate system into the first direction vector in a world coordinate system according to the current pose of the self-mobile device.
In one embodiment, the step S70 includes the steps of:
when the three-dimensional space coordinates of the suspicious object are positioned at one side of the boundary coordinates of the area to be monitored, which is close to the area to be monitored, in a world coordinate system, the controller judges that the suspicious object invades the area to be monitored; or alternatively, the first and second heat exchangers may be,
when the three-dimensional space coordinates of the suspicious object are located at one side of the boundary coordinates of the area to be monitored, which is far away from the area to be monitored, in a world coordinate system, the controller judges that the suspicious object does not invade the area to be monitored.
The self-moving equipment and the security method thereof have the beneficial effects that the self-moving equipment is provided with the image acquisition element so that the self-moving equipment can realize the inherent functions of mowing, cleaning and the like, and the self-moving equipment also has the security function and expands the functional range. More importantly, the image acquisition element on the self-mobile device acquires the environment image in real time when the self-mobile device walks in the area to be monitored, and in an automatic working mode, the controller automatically judges whether the suspicious object invades the area to be monitored according to the relation between the boundary coordinates of the monitored area under the world coordinate system and the three-dimensional space coordinates of the suspicious object in the environment image, so that the self-mobile device does not need manual auxiliary judgment in the prior art, has higher intelligent level, and greatly improves the use experience of users.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a block diagram of a self-mobile device of the present disclosure in one embodiment;
FIG. 2 is a schematic view of a mower in one embodiment;
FIG. 3 is a schematic illustration of an image projection acquired by the controller;
FIG. 4 is a flow chart of the main steps of a security method of the self-mobile device of the present disclosure in one embodiment;
FIG. 5 is a detailed flow chart of some steps of the security method of the present disclosure in one embodiment;
FIG. 6 is a schematic diagram of a small bore imaging model in one embodiment;
FIG. 7 is a detailed flow diagram of a portion of the method of the security method of the present disclosure in one embodiment;
fig. 8 is a detailed flow diagram of a portion of the method of the security method of the present disclosure in one embodiment.
Wherein, the one-to-one correspondence between the component names and the reference numerals in fig. 1 and 2 is as follows:
10 car bodies, 20 running mechanisms, 201 driving wheels, 202 driven wheels, 30 image acquisition elements, 40 controllers and 50 turntables.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.
Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.
Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.
The present disclosure provides a self-moving device including a vehicle body, a running gear, an image acquisition element, and a controller. The travelling mechanism is arranged on the vehicle body and is configured to drive the vehicle body to travel in a region to be monitored; the image acquisition element is arranged on the vehicle body and is used for acquiring an environment image; the controller is electrically connected with the travelling mechanism and the image acquisition element, and the self-moving equipment at least has an automatic working mode, under the automatic working mode, the controller is configured to acquire boundary coordinates of the region to be monitored under the world coordinate system and image projections of the suspicious object in the environment image, acquire three-dimensional space coordinates of the suspicious object under the world coordinate system according to the image projections, and judge whether the suspicious object invades the region to be monitored according to the boundary coordinates of the region to be monitored and the three-dimensional space coordinates of the suspicious object.
The image acquisition element is arranged on the self-mobile equipment, so that the self-mobile equipment can realize the inherent functions of mowing, cleaning and the like, has the security function, and expands the functional range. More importantly, the image acquisition element on the self-mobile device acquires the environment image in real time when the self-mobile device walks in the area to be monitored, and in an automatic working mode, the controller automatically judges whether the suspicious object invades the area to be monitored according to the relation between the boundary coordinates of the monitored area under the world coordinate system and the three-dimensional space coordinates of the suspicious object in the environment image, so that the self-mobile device does not need manual auxiliary judgment in the prior art, has higher intelligent level, and greatly improves the use experience of users.
It should be noted that suspicious objects described in the present disclosure include objects that pedestrians, animals, vehicles, and the like walk on the ground.
For better understanding, the specific structure of the self-mobile device of the present disclosure and its working principle are described in detail below with reference to fig. 1 in conjunction with an embodiment. The dashed lines with arrows in fig. 1 represent the physical connection relationship between the two elements, the arrows point to the elements that are the carriers, the solid lines with arrows represent the signal transmission relationship between the two elements, and the arrows point to the transmission directions that represent the signals.
It should be noted that, the self-mobile device of the present disclosure may be a mowing robot working outdoors, a patrol robot having patrol and security functions, a disinfection robot for epidemic prevention, and the like.
In addition, the disclosure further provides a security method suitable for the self-mobile device, and in order to keep text simple and easy to understand, the specific steps of the security method are introduced together when describing the self-mobile device, and no separate description is made on the security method of the self-mobile device.
For ease of understanding, the basic components of the self-moving device and their principles of operation will be described below with reference to fig. 1 and 2, taking a mower as an example. Of course, the self-moving device of the present disclosure may be a sweeping robot, a sterilizing robot, or the like, as well as a mower, and may be other devices that perform corresponding functions of sweeping, spraying a sterilizing liquid, or the like while moving self. Referring to fig. 1, the self-moving apparatus of the present disclosure includes a vehicle body 10 and a traveling mechanism 20, the traveling mechanism 20 being provided on the vehicle body 10 and configured to drive the vehicle body 10 to travel.
Referring to fig. 2, the running gear of the self-moving device includes a driving wheel 201 and a driven wheel 202. The driving wheel 201 and the driven wheel 202 are rotatably arranged on the vehicle body 10 through a rotating bearing and other structures, and a motor and other power sources drive the driving wheel 201 to rotate, and the driven wheel 202 synchronously rotates along with the driving wheel 21.
In addition, the self-moving device further comprises a turntable 50 and a blade (not shown in the figure) arranged on the turntable 50, wherein the turntable 50 is rotatably arranged on the vehicle body 10, the blade is detachably arranged on the turntable, and the turntable 50 is driven by a turntable driving mechanism to rotate relative to the vehicle body 10 so as to drive the blade thereon to rotationally mow grass. It will be appreciated that the running gear and the turntable may be arranged on the vehicle body in a conventional manner, and will not be described herein.
With continued reference to fig. 1 and 2, the self-moving apparatus of the present disclosure further includes an image capturing element 30, where the image capturing element 30 is fixedly disposed on the vehicle body 10 by a fastener or the like, and is used to capture image information of the surrounding environment of the vehicle body in real time during traveling of the vehicle body 10 with the traveling mechanism or in a stopped state.
The image acquisition element 30 is carried on the self-mobile equipment, so that the advantages of the self-mobile equipment, mobility and flexibility can be fully exerted, patrol security is performed in a working scene, and security dead angles are eliminated.
In one embodiment, the image capturing element 30 is a pan around camera. Compared with a common pinhole camera, the circular camera utilizes the advantage of 360-degree dead angle-free, performs security monitoring of large visual field, and eliminates visual field dead areas caused by using the common camera.
With continued reference to fig. 1, the self-moving device of the present disclosure further includes a controller 40, the controller 40 being electrically connected to both the running gear 20 and the image capturing element 30.
The self-mobile device has at least an automatic operation mode in which the controller 40 is configured to acquire boundary coordinates of the area to be monitored in the world coordinate system and image projections of the suspicious object in the environment image, acquire three-dimensional space coordinates of the suspicious object in the world coordinate system according to the image projections, and judge whether the suspicious object invades the area to be monitored according to the boundary coordinates of the area to be monitored and the three-dimensional space coordinates of the suspicious object. That is, a security method is performed from a controller of a mobile device.
Because the self-mobile device can move automatically and can calculate the pose of the self-mobile device in real time by means of the existing positioning technology, based on the pose, the controller of the self-mobile device can adopt at least two methods to determine the area to be monitored when the controller performs the security method.
The method comprises the following steps: the user can directly define an area on the world map of the self-mobile device APP (application program of the self-mobile device APP) of the user terminal such as a mobile phone, etc., where the application program is used for the interaction between the user and the self-mobile device as the area to be monitored of the self-mobile device.
The second method is as follows: the controller is electrically connected with the running mechanism, namely, the controller can send instructions such as starting or stopping to the running mechanism. When a user or a previous control system designates an area and gives an instruction to the controller to enable the controller 40 to control the running mechanism to drive the vehicle body 10 to run one circle along the boundary of the designated area, at the same time, the controller 40 calculates the pose of the vehicle body in real time and records the pose as the boundary of the area to be monitored.
In one embodiment, referring to fig. 3, after determining the area to be monitored of the mobile device, the controller needs to perform step S10 when performing the security method: and obtaining boundary coordinates of the region to be monitored under the world coordinate system.
After determining the area to be monitored of the self-moving device, the controller 40 is further configured to perform step S30, namely, control the travelling mechanism to drive the vehicle body to travel in the area to be monitored, and control the image acquisition element to acquire the environmental image.
In one embodiment, controller 40 controls running gear 20 to drive vehicle body 10 along a patrol path and controls graphics acquisition element 30 to continuously acquire environmental images.
That is, the controller is further configured to determine a patrol path of the self-mobile device within the area to be monitored, so that the self-mobile device can walk along the patrol path in the automatic operation mode, and can continuously monitor whether a suspicious object exists within the area to be monitored while the self-mobile device walks along the patrol path.
Of course, the self-mobile device may patrol only a single time along the patrol path, or the patrol path may be stored in the controller, so that the self-mobile device periodically walks along the patrol path in the automatic operation mode. For example, the self-mobile device automatically patrol preset times in the time units of hours, days, months or years, thereby avoiding the repeated patrol path setting process.
In another embodiment, after determining the area to be monitored of the mobile device, step S30 may also be:
the control traveling mechanism 20 drives the vehicle body 10 to travel to at least one fixed monitoring point and stay at each fixed monitoring point for a preset monitoring period, and controls the image acquisition element to acquire an environmental image at the fixed monitoring point.
The fixed monitoring points are determined, and the monitoring time length of each fixed monitoring point is determined by a user or a previous system. That is, the controller 40 controls the traveling mechanism to drive the vehicle body 10 to travel along the fixed monitoring points and stay at each of the fixed monitoring points for a preset monitoring period, and the image capturing element 30 captures an environmental image of the fixed monitoring point during the stay of the vehicle body 10 at the fixed monitoring point.
That is, the controller is further configured to determine at least one fixed monitoring point of the self-mobile device and a monitoring duration of each fixed monitoring point in the area to be monitored, so that the self-mobile device can walk between each fixed monitoring point and stay at each fixed monitoring point for the monitoring duration in the automatic working mode, and further monitor whether a suspicious object exists in the area to be monitored.
In this embodiment, the image capturing element 30 monitors the preset time period only at a designated number of fixed monitoring points when the self-mobile device walks, and does not need to continuously capture the environmental images in real time during the walking process, so that the image capturing element 30 is in a standby state at the non-fixed monitoring points, and the energy consumption of the self-mobile device is reduced.
When the image capturing element 30 transmits to the controller 40 that the environment image includes the suspicious object, the controller 40 is configured to execute step S50 of the security method of the self-mobile device.
S50: and acquiring image projection of the suspicious object in the environment image, and acquiring three-dimensional space coordinates of the suspicious object under a world coordinate system according to the image projection.
In detail, referring to fig. 4, in one embodiment, step S50 further specifically includes the following steps:
s501: acquiring image projection of a suspicious object in an environment image;
for example, in fig. 5, an image projection is denoted by reference numeral 50, on which a suspicious object is outlined with a rectangular frame as a detection frame 51, and a point P' at the bottom side of the rectangular detection frame 51 is selected as a sampling point.
S503, acquiring a mathematical expression of a straight line passing through the optical center of the image acquisition element and a sampling point on the image projection of the suspicious object under a world coordinate system according to the image projection of the suspicious object;
in combination with fig. 6 and 7, in one embodiment, step S503 specifically includes the following steps:
s5031: acquiring a first coordinate of an optical center O of the image acquisition element under a camera coordinate system under a machine coordinate system according to the external parameters of the image acquisition element relative to the self-mobile equipment;
s5033: acquiring a second coordinate of the optical center O of the image acquisition element under a world coordinate system according to the current pose and the first coordinate of the self-mobile device;
s5035: taking the optical center O of the image acquisition element under the world coordinate system as a point on a straight line, taking the first direction vector from the sampling point P 'to the optical center O of the image acquisition element as a straight line direction, and constructing a mathematical expression of the straight line passing through the optical center O of the image acquisition element and the sampling point P' on the image projection of the suspicious object under the world coordinate system according to a straight line point-to-point equation.
The straight line point direction equation is:
wherein the direction vectorKnown point (x 0 ,y 0 ,z 0 )。
Parameter equation of straight line
And t is a parameter.
In one embodiment, referring to fig. 8, in step S5035, the method for obtaining a first direction vector from the sampling point P' to the optical center O of the image capturing element includes the following steps:
s50351: acquiring pixel coordinates of a sampling point P 'in image projection, namely, coordinates of the P';
s50352: calculating a third coordinate of the sampling point P' under a camera coordinate system according to the internal reference of the image acquisition element;
s50353: under a camera coordinate system, acquiring a second direction vector from the sampling point P' to the optical center O of the image acquisition element according to the third coordinate and the optical center O coordinate of the image acquisition element;
s50354: according to the external parameters of the image acquisition element relative to the self-mobile device, converting the second direction vector under the camera coordinate system into a third direction vector under the machine coordinate system;
s50355: and according to the current pose of the self-mobile device, converting the third direction vector in the machine coordinate system into the first direction vector in the world coordinate system.
After constructing the mathematical expression of the straight line passing through the optical center of the image acquisition element and the sampling point on the image projection of the suspicious object in the world coordinate system in step S5035, the controller executes step S505 of the security method.
S505: and acquiring X-direction coordinates and Y-direction coordinates of the sampling point P 'in the world coordinate system according to the mathematical expression and the Z-direction coordinates of the sampling point P' in the world coordinate system. The controller acquires image projection of the suspicious object contained in the environment image, and acquires three-dimensional space coordinates of the suspicious object under a world coordinate system according to the image projection.
Then, the controller is configured to perform step S70 of the security method.
With continued reference to fig. 3, S70: and judging whether the suspicious object invades the area to be monitored or not according to the boundary coordinates of the area to be monitored and the three-dimensional space coordinates of the suspicious object.
In detail, in one embodiment, step S70 specifically includes the steps of:
when the three-dimensional space coordinates of the suspicious object are located on one side, close to the area to be monitored, of the boundary coordinates of the area to be monitored in the world coordinate system, the controller judges that the suspicious object invades the area to be monitored.
That is, the security situation in the monitored area is emphasized by the mobile device, for example, the boundary of the monitored area is a closed ring (enclosing wall or fence of building), and when the suspicious object is located in the ring, it is determined that the suspicious object invades the area to be monitored.
In another embodiment, the step S70 specifically includes the following steps:
when the three-dimensional space coordinates of the suspicious object are located on one side, away from the area to be monitored, of the boundary coordinates of the area to be monitored in the world coordinate system, the controller judges that the suspicious object does not invade the area to be monitored.
That is, from the security situation outside the monitored area that the mobile device pays attention to, for example, the boundary of the monitored area is a closed ring (enclosing wall or fence of building), when the suspicious object is located outside the ring, it is determined that the suspicious object does not invade the monitored area.
Of course, in addition to the automatic operation mode, the self-moving device of the present disclosure also has a manual operation mode in which the controller is configured to control the traveling mechanism to travel in the area to be monitored according to the instruction for determining whether a suspicious object exists in the area to be monitored through the environmental image acquired by the image acquisition element.
For example, a user uses a remote controller to remotely control a travelling mechanism of the self-mobile device to drive a vehicle body to travel along a remote control route, and at the same time, an image acquisition element acquires an environment image in real time or at a fixed point and transmits the environment image to a controller, and the controller judges whether a suspicious object exists in a region to be monitored through the environment image acquired by the image acquisition element by using the method in the automatic working mode.
When the controller judges that the suspicious object invades the area to be monitored, the controller is further configured to upload the environment image projected by the contained image of the suspicious object to the user terminal so that the user can make defensive measures.
For better understanding, practical applications of the self-mobile device and the security method thereof of the present disclosure are described in detail in connection with one application scenario.
Application scenario one
In an automatic working mode, after a controller of the mobile equipment determines a monitoring area, the controller controls a travelling mechanism to drive a vehicle body to walk along a patrol path in the area to be monitored, meanwhile, an image acquisition element on the vehicle body acquires an environment image in real time, when suspicious objects such as pedestrians, animals or motor vehicles appear in the environment image, the controller acquires boundary coordinates of the monitoring area under a world coordinate system and image projection of the suspicious objects in the environment image, and then three-dimensional space coordinates of the image projection under the world coordinate system are obtained through calculation. When the three-dimensional space coordinates of the suspicious object are located on one side, close to the area to be monitored, of the boundary coordinates of the area to be monitored in the world coordinate system, the controller judges that the suspicious object invades the area to be monitored, and at the moment, an alarm can be sent out or an image can be uploaded to a user terminal so that a user can make a coping strategy.
Application scene two
In an automatic working mode, after a controller of the self-moving equipment determines a monitoring area, the controller controls a travelling mechanism to drive a vehicle body to walk along at least one fixed monitoring point appointed by a user in the area to be monitored, and stays at each fixed monitoring point for a preset monitoring time period, meanwhile, an image acquisition element on the vehicle body acquires an environment image at the fixed monitoring point, when suspicious objects such as pedestrians, animals or motor vehicles appear in the environment image, the controller acquires boundary coordinates of the monitoring area in a world coordinate system and image projection of the suspicious objects in the environment image, and then three-dimensional space coordinates of the image projection in the world coordinate system are obtained through calculation. When the three-dimensional space coordinates of the suspicious object are located on one side, close to the area to be monitored, of the boundary coordinates of the area to be monitored in the world coordinate system, the controller judges that the suspicious object invades the area to be monitored, and at the moment, an alarm can be sent out or an image can be uploaded to a user terminal so that a user can make a coping strategy.
Application scenario three
In a manual working mode, a user uses a remote controller to remotely control the self-moving robot to walk along a remote control path, an image acquisition element on the self-moving robot can acquire environment images in real time or according to the needs of the user, the environment images are transmitted to the controller, the controller acquires boundary coordinates of a monitoring area under a world coordinate system and image projections of suspicious objects in the environment images, and three-dimensional space coordinates of the image projections under the world coordinate system are obtained through calculation. When the three-dimensional space coordinates of the suspicious object are located on one side, close to the area to be monitored, of the boundary coordinates of the area to be monitored in the world coordinate system, the controller judges that the suspicious object invades the area to be monitored, and at the moment, an alarm can be sent out or an image can be uploaded to a user terminal so that a user can make a coping strategy.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (20)

1. A self-moving device, comprising:
a vehicle body;
the travelling mechanism is arranged on the vehicle body and is configured to drive the vehicle body to travel in the area to be monitored;
the image acquisition element is arranged on the vehicle body and is used for acquiring an environment image;
the controller is electrically connected with the travelling mechanism and the image acquisition element, and is at least provided with an automatic working mode, and in the automatic working mode, the controller is configured to acquire boundary coordinates of the region to be monitored under a world coordinate system and image projections of suspicious objects in the environment image, acquire three-dimensional space coordinates of the suspicious objects under the world coordinate system according to the image projections, and judge whether the suspicious objects invade the region to be monitored according to the boundary coordinates of the region to be monitored and the three-dimensional space coordinates of the suspicious objects.
2. The self-moving device of claim 1, wherein the image acquisition element is a pan around camera.
3. The self-mobile device of claim 1, wherein the controller is further configured to upload the environment image of the image projection of the suspicious object contained to a user terminal upon determining that the suspicious object intrudes into the area to be monitored.
4. The self-mobile device of claim 1, wherein the controller is further configured to determine an area to be monitored.
5. The self-moving device according to claim 4, wherein the controller determines the area to be monitored by controlling the travelling mechanism to drive the vehicle body to travel one circle along the designated area boundary, calculating the pose of the vehicle body in real time and recording the boundary marked as the area to be monitored.
6. The self-mobile device of claim 1, wherein the controller is further configured to determine a patrol path of the self-mobile device within the area to be monitored, to enable the self-mobile device to walk along the patrol path in the automatic mode of operation, and to enable the self-mobile device to continuously monitor whether a suspicious object is present within the area to be monitored while walking along the patrol path.
7. The self-mobile device of claim 6, wherein the controller is further configured to cause the self-mobile device to periodically walk along the patrol path in the automatic mode of operation.
8. The self-mobile device of claim 1, wherein the controller is further configured to determine at least one fixed monitoring point of the self-mobile device and a monitoring duration of each of the fixed monitoring points within the area to be monitored, such that the self-mobile device can walk between each of the fixed monitoring points and stay at each of the fixed monitoring points for the monitoring duration in the automatic mode of operation to monitor whether suspicious objects are present within the area to be monitored.
9. The self-moving device of claim 1, wherein the self-moving device is a lawn mowing robot.
10. The self-moving device according to claim 1, further comprising a manual operation mode in which the controller is configured to control the traveling mechanism to travel within the area to be monitored according to an instruction for determining whether a suspicious object exists within the area to be monitored by the environmental image acquired by the image acquisition element.
11. The self-mobile device according to claim 1, wherein the controller judges that the suspicious object intrudes into the area to be monitored when the three-dimensional space coordinates of the suspicious object are located at a side of the boundary coordinates of the area to be monitored close to the area to be monitored in a world coordinate system; or alternatively, the first and second heat exchangers may be,
when the three-dimensional space coordinates of the suspicious object are located at one side of the boundary coordinates of the area to be monitored, which is far away from the area to be monitored, in a world coordinate system, the controller judges that the suspicious object does not invade the area to be monitored.
12. A security method for a self-mobile device, in particular a self-mobile device according to any of claims 1 to 11, comprising the steps of:
s10: acquiring boundary coordinates of the region to be monitored under a world coordinate system;
s30: controlling the travelling mechanism to drive the vehicle body to travel in the area to be monitored, and controlling the image acquisition element to acquire an environment image;
s50: acquiring image projection of a suspicious object in the environment image, and acquiring three-dimensional space coordinates of the suspicious object under a world coordinate system according to the image projection;
s70: and judging whether the suspicious object invades the area to be monitored or not according to the boundary coordinates of the area to be monitored and the three-dimensional space coordinates of the suspicious object.
13. The security method according to claim 12, wherein step S10 further comprises controlling the travelling mechanism to drive the vehicle body to travel one circle along a designated area boundary, calculating the pose of the vehicle body in real time, and recording the boundary marked as the area to be monitored.
14. The security method according to claim 13, wherein the step S30 includes:
and controlling the travelling mechanism to drive the vehicle body to travel along a patrol path, and controlling the image acquisition element to continuously acquire environmental images.
15. The security method according to claim 12, wherein in the step S30, the running mechanism is controlled to drive the vehicle body to run periodically along the patrol path.
16. The security method according to claim 12, wherein the step S30 includes:
and controlling the travelling mechanism to drive the vehicle body to travel towards at least one fixed monitoring point, staying at each fixed monitoring point for a preset monitoring time period, and controlling the image acquisition element to acquire an environment image at the fixed monitoring point.
17. The security method according to claim 12, wherein the step S50 includes the steps of:
s501: acquiring image projection of a suspicious object in the environment image;
s503: acquiring a mathematical expression of a straight line passing through the optical center of the image acquisition element and a sampling point on the image projection of the suspicious object under a world coordinate system according to the image projection of the suspicious object;
s505: and acquiring X-direction coordinates and Y-direction coordinates of the sampling point in the world coordinate system according to the mathematical expression and the Z-direction coordinates of the sampling point in the world coordinate system.
18. The security method according to claim 17, wherein step S503 comprises the steps of:
s5031: acquiring a first coordinate of an optical center of the image acquisition element under a camera coordinate system under a machine coordinate system according to the external parameters of the image acquisition element relative to the self-mobile device;
s5033: acquiring a second coordinate of the optical center of the image acquisition element under a world coordinate system according to the current pose of the self-mobile device and the first coordinate;
s5035: and constructing a mathematical expression of a straight line passing through the optical center of the image acquisition element and the sampling point on the image projection of the suspicious object under the world coordinate system according to a straight line point-to-point equation by taking the optical center of the image acquisition element under the world coordinate system as a point on the straight line, wherein a first direction vector from the sampling point to the optical center of the image acquisition element is a straight line direction.
19. The security method according to claim 18, wherein in step S3035, obtaining a first direction vector from a sampling point to an optical center of the image capturing element comprises the steps of:
s50351: acquiring pixel coordinates of the sampling points in the image projection;
s50352: calculating a third coordinate of the sampling point under a camera coordinate system according to the internal reference of the image acquisition element;
s50353: under a camera coordinate system, acquiring a second direction vector from the sampling point to the optical center of the image acquisition element according to the third coordinate and the optical center coordinate of the image acquisition element;
s50354: according to the external parameters of the image acquisition element relative to the self-mobile device, converting the second direction vector in the camera coordinate system into a third direction vector in the machine coordinate system;
s50355: and converting the third direction vector in a machine coordinate system into the first direction vector in a world coordinate system according to the current pose of the self-mobile device.
20. The security method according to claim 12, wherein the step S70 includes the steps of:
when the three-dimensional space coordinates of the suspicious object are positioned at one side of the boundary coordinates of the area to be monitored, which is close to the area to be monitored, in a world coordinate system, the controller judges that the suspicious object invades the area to be monitored; or alternatively, the first and second heat exchangers may be,
when the three-dimensional space coordinates of the suspicious object are located at one side of the boundary coordinates of the area to be monitored, which is far away from the area to be monitored, in a world coordinate system, the controller judges that the suspicious object does not invade the area to be monitored.
CN202210915817.6A 2022-08-01 2022-08-01 Self-mobile device and security method thereof Pending CN117555324A (en)

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CN202210915817.6A CN117555324A (en) 2022-08-01 2022-08-01 Self-mobile device and security method thereof

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