WO2021031406A1 - Système de travail automatique et dispositif de marche automatique et procédé de commande associé - Google Patents

Système de travail automatique et dispositif de marche automatique et procédé de commande associé Download PDF

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Publication number
WO2021031406A1
WO2021031406A1 PCT/CN2019/117871 CN2019117871W WO2021031406A1 WO 2021031406 A1 WO2021031406 A1 WO 2021031406A1 CN 2019117871 W CN2019117871 W CN 2019117871W WO 2021031406 A1 WO2021031406 A1 WO 2021031406A1
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WIPO (PCT)
Prior art keywords
boundary
real
time image
automatic
color
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PCT/CN2019/117871
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English (en)
Chinese (zh)
Inventor
陈泓
朱绍明
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苏州科瓴精密机械科技有限公司
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Publication of WO2021031406A1 publication Critical patent/WO2021031406A1/fr

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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
    • 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

Definitions

  • the invention relates to the field of intelligent control, in particular to an automatic working system, an automatic walking device and a control method thereof.
  • intelligent robots With the continuous advancement of computer technology and artificial intelligence technology, automatic walking equipment and automatic working systems of intelligent robots have slowly entered people's lives, such as intelligent sweeping robots and intelligent lawn mower robots.
  • intelligent robots are small in size, and are integrated with sensing devices, driving devices, batteries, etc., without manual manipulation, and can travel and work in a prescribed area.
  • the battery power when the battery power is insufficient, it can automatically return to the charging station, dock with the charging station and charge, and continue to travel and work after the charging is completed.
  • the working area of the existing automatic working system is large lawn, and the boundary is mostly energized equipment buried under the ground, so that the intelligent lawn mowing robot can sense .
  • the boundary is mostly energized equipment buried under the ground, so that the intelligent lawn mowing robot can sense .
  • it is also necessary to set up a charging station so the construction of the entire automatic working system is relatively complicated. Especially for small lawns, such as less than 100 square meters, the lawn mower robot can mow a complete lawn in two hours. If the above-mentioned working system is also to be built for this type of lawn, the cost will be higher and also More troublesome.
  • the present invention provides a control method of an autonomous walking device.
  • the control method includes: acquiring real-time images taken by the autonomous walking device in the forward direction in real time; and judging the automatic walking based on the color layout in the real-time image Whether the device has reached or approached the boundary; when it is judged that it has reached or approached the boundary, the automatic traveling device stops traveling forward and rotates a preset angle before continuing to travel and work.
  • the step of "determining whether the autonomous device has reached or approaching the boundary based on the color layout in the real-time image" includes: judging the range of the boundary based on the color layout in the real-time image; calculating the boundary area and real-time image The ratio between the total area of the image is R1; when R1 ⁇ T1, it is judged that the automatic traveling equipment has reached or approached the boundary.
  • the step of "determining the range of the boundary based on the color layout in the real-time image” includes: detecting or acquiring the color of the boundary; converting the real-time image into HSV format or HSI format or LAB format; A collection of pixels representing the color of the border.
  • the present invention provides a self-propelled equipment, which includes a main body, a walking module, and a power supply module;
  • the self-propelled equipment includes: a camera device, the camera device is arranged on the front side of the main body, and used Acquire real-time images taken by the autonomous vehicle in the forward direction;
  • the control device is connected to the camera device and used to determine whether the autonomous vehicle has reached or approached the boundary according to the color layout in the real-time image, and when it is judged to have reached or approached After the boundary, the automatic traveling device is controlled to stop moving forward and rotate a preset angle before continuing to move forward and work.
  • the autonomous walking device further includes a calculation module
  • the control module can also determine the range of the boundary according to the color layout in the real-time image
  • the calculation module is connected with the control module to calculate the boundary in the real-time image
  • control module includes a format conversion unit and a color detection unit
  • the format conversion unit is used to convert the real-time image into HSV format or HSI format or LAB format
  • the color detection unit can be used to detect or Obtain the color of the boundary, and obtain a collection of all pixels that present the color of the boundary in the real-time image.
  • the step "after the automatic traveling equipment stops traveling forward and rotating a preset angle, then continues to travel and work” includes: the automatic traveling equipment suspends forward traveling; The evasion distance is moved in the opposite direction of the forward direction; the automatic traveling equipment rotates by a preset angle; the automatic traveling equipment continues to travel and work.
  • the present invention provides an automatic working system, including: an automatic traveling device; a boundary, the enclosure is in a ring shape and is formed to limit the working area of the automatic traveling device, and the boundary is detachably arranged at On the ground; the color of the border is different from the ground color.
  • the boundary includes boundary piles arranged at intervals and an enclosure connected between adjacent boundary piles, and the boundary piles extend upward from the ground and can be partially inserted under the ground or fully supported on the ground.
  • the enclosure is made of flexible material.
  • the self-propelled device of the present invention judges whether it has reached or is close to the boundary by shooting the color distribution on the real-time image in the forward direction, and the detection is more convenient.
  • the boundary may not be buried in the ground, but set On the ground, easy to disassemble.
  • Figure 1 is a schematic diagram of the structure of the automatic working system of the present invention
  • Fig. 2 is a flow chart of the control method of the autonomous walking equipment in the present invention.
  • the self-propelled equipment of the present invention may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically walks in the work area for mowing and vacuuming.
  • the self-propelled equipment is a lawn mower as an example.
  • the working area may be a lawn.
  • the self-propelled equipment is not limited to lawn mowers and vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment, etc., suitable for unattended equipment.
  • the present invention provides a control method of an autonomous walking device, the control method includes:
  • the autonomous vehicle stops traveling forward and rotates a preset angle before continuing to travel and work.
  • the self-propelled equipment in the present invention does not sense the current on the boundary, but takes real-time images of the self-propelled equipment in the forward direction and analyzes the color distribution in the real-time images. , To determine whether it has reached or is close to the boundary. Therefore, in order to be able to capture a real-time image including the boundary, the boundary must be significantly different from the grass. Specifically, it will be described in detail later.
  • the above-mentioned steps "after the autonomous vehicle stops traveling forward and rotates a preset angle, then continue to travel and work” includes: the autonomous vehicle stops traveling forward; the autonomous vehicle reverses the original forward direction Directional movement avoidance distance; the automatic traveling equipment rotates a preset angle; the automatic traveling equipment continues to travel and work.
  • the self-propelled equipment can also directly stop traveling and rotate a preset angle.
  • the above avoidance distance is determined by the walking speed of the automatic traveling equipment, the shooting angle, the size of the boundary, and so on.
  • the autonomous walking device of the present invention judges the distance from the boundary through real-time images, so there is no need to bury the boundary in the ground, and the boundary can be set on the ground, so that the boundary is easier to build or disassemble.
  • step of "judging whether the autonomous vehicle has reached or approached the boundary according to the color layout in the real-time image” includes:
  • the boundary is set on the ground, if the ratio of the range of the boundary to the area in the real-time image is larger, it means that the autonomous vehicle is closer to the boundary.
  • the threshold T1 is also determined based on the walking speed of the autonomous vehicle, the angle of shooting, the size of the boundary, and the like. In this embodiment, the boundary extends upward from the ground and the height exceeds the height of the autonomous vehicle, and the value of the threshold T1 is 100%.
  • the range of the boundary is determined by the color layout, and the ratio R1 between the area of the boundary in the real-time image and the total area of the real-time image is used to determine that the autonomous vehicle has reached or approached the boundary.
  • the separation line between the boundary and the ground can also be detected by the color layout, so as to determine the distance between the autonomous vehicle and the boundary by the position of the separation line in the real-time image. If the dividing line is closer to the bottom of the real-time image, the autonomous device is closer to the boundary; on the contrary, if the dividing line is closer to the top of the real-time image, the autonomous device is farther from the boundary.
  • it can be performed by a method such as Hough transform straight line detection by the lower edge of the boundary having obvious linear characteristics.
  • the step of "determining the boundary range according to the color layout in the real-time image” includes:
  • the color of the border is usually different from the color of the lawn. Therefore, in the present invention, the range of the border in the real-time image is recognized by acquiring pixels of the color in the real-time image. Further, the real-time image can be converted into HSV format or HSI, LAB format, which is more conducive to color detection, and then extracted as pixels of that color on the photo. After obtaining the range of the boundary, as described above, the ratio R1 between the area of the boundary and the total area of the real-time image is calculated.
  • detecting or acquiring the color of the boundary means that the color of the boundary can be detected through image recognition or the like, or the color of the boundary can be directly retrieved from the memory of the autonomous walking device.
  • the color presenting the boundary can be multiple colors, for example, satisfying the uniformity of colors within a certain range of chromaticity or saturation within a certain range. Can be used as the color of the border.
  • red pixels can be obtained in real-time images. And form the boundary of the range, and then calculate. If in the real-time image, the ratio between the area of the red range and the total area of the real-time image is R1 ⁇ T1, it means that the autonomous vehicle has reached or approached the boundary.
  • the present invention also provides an automatic traveling equipment, which includes a main body, a traveling module, and a power supply module, and, in the present invention, the automatic traveling equipment further includes a camera device and a control device, and the camera device is arranged on the front side of the main body , And used to obtain real-time images taken by the aforementioned autonomous walking equipment in real-time in the forward direction.
  • the control device can be connected to the camera device and used to determine whether the autonomous vehicle has reached or approached the boundary according to the color layout in the real-time image, and when it is determined that the autonomous vehicle has reached or approached the boundary, control the autonomous vehicle to stop moving forward And rotate the preset angle, then continue to move forward and work.
  • this corresponds to the control method of the above-mentioned autonomous walking equipment, and will not be repeated here.
  • the autonomous walking device further includes a calculation module, the control module can also determine the range of the boundary according to the color layout in the real-time image, and the calculation module is connected with the control module to calculate the boundary area and the real-time image.
  • the ratio between the total area of the image is R1; and when R1 ⁇ T1, the control module judges that the autonomous walking equipment has reached or is close to the boundary.
  • the control module includes a format conversion unit and a color detection unit, the format conversion unit is used to convert the real-time image into HSV format or HSI format or LAB format; the color detection unit can be used to detect or acquire the color of the boundary , And obtain the collection of all pixels that present the border color in the real-time image.
  • the present invention also provides an automatic working system for automatic walking equipment, which includes:
  • the boundary is enclosed in a ring shape and is formed to define the working area of the automatic walking equipment, the boundary is detachably set on the ground; the color of the boundary is different from the color of the ground.
  • the boundary is detachably set on the ground, so the boundary can be dismantled after the construction is completed, so it can be reused, and for a small area of lawn, only the boundary needs to be built, and no arrangement is required Charging station, the construction efficiency of the automatic working system is higher.
  • the self-propelled equipment can also walk and work freely in the working area enclosed by the boundary.
  • the boundary is set on the ground and can be matched with the automatic traveling equipment, and when the automatic traveling equipment is approaching, the boundary is within the shooting range of the camera.
  • the boundary includes boundary piles 1 arranged at intervals and an enclosure 2 connected between adjacent boundary piles 1.
  • the boundary piles 1 extend upward from the ground and can be partially inserted under the ground or fully supported on the ground. Therefore, the boundary pile 1 can be fixed on the ground.
  • the height of the enclosure 2 in the vertical direction is higher than that of the self-propelled device, which is more favorable for the self-propelled device to take pictures.
  • the boundary pile 1 is designed to be higher than the enclosure 2.
  • the boundary pile 1 is in the shape of a hard rod with a sharp lower end to be inserted into the ground to support the enclosure 2.
  • the color of the boundary is different from the color of the ground, so that the camera of the self-propelled device can perform better recognition.
  • the color of the border is red.
  • the colors of the enclosure 2 and the boundary pile 1 are the same and both are red.
  • the colors of the enclosure 2 and the boundary pile 1 may also be different.
  • the enclosure 2 is made of flexible material, so as to facilitate crimping and folding.
  • the enclosure 2 is made of a lightweight elastic material, which is convenient for saving space during storage, and also facilitates tightening when fixed on the boundary pile 1 so that the enclosure 2 can be effectively enclosed on the boundary pile 1.
  • the present invention provides a method for controlling an autonomous vehicle, and can judge whether the autonomous vehicle reaches or is close to the boundary according to the color layout in the real-time captured real-time image, so that the boundary can be detachably set at On the ground, it is easier to build the automatic working system.
  • the pixels presenting the color of the boundary in the real-time photo can be detected to obtain the size of the boundary. When the range of the boundary is larger, it can be judged that the autonomous walking device is closer to the boundary. , So that it is possible to control the steering of the automatic walking equipment immediately.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système de travail automatique et un dispositif de marche automatique et un procédé de commande associé. Le procédé de commande consiste : à acquérir une image en temps réel photographiée en temps réel par un dispositif de marche automatique dans une direction avant ; à déterminer, selon une disposition de couleur de l'image en temps réel, si oui ou non le dispositif de marche automatique a atteint ou s'est approché d'une frontière ; et lorsqu'il est déterminé que le dispositif de marche automatique a atteint ou s'est approché de la frontière, a arrêter le déplacement vers l'avant du dispositif de marche automatique, à tourner d'un angle prédéfini, à poursuivre le déplacement vers l'avant et le travail. Le dispositif de marche automatique détermine, au moyen de la photographie de la disposition de couleur de l'image en temps réel dans la direction avant, si oui ou non le dispositif de marche automatique a atteint ou s'est approché de la frontière. La détection est relativement pratique et la frontière n'a également pas besoin d'être enterrée sous terre, mais est agencée sur le sol pour faciliter le désassemblage et l'assemblage.
PCT/CN2019/117871 2019-08-21 2019-11-13 Système de travail automatique et dispositif de marche automatique et procédé de commande associé WO2021031406A1 (fr)

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CN201910774389.8 2019-08-21
CN201910774389.8A CN112486151A (zh) 2019-08-21 2019-08-21 自动工作系统、自动行走设备及其控制方法

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CN103142187A (zh) * 2013-03-18 2013-06-12 慈溪迈思特电子科技有限公司 自动吸尘器的工作场地识别系统
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