WO2021042486A1 - Système à fonctionnement automatique, dispositif à déplacement automatique et procédé de commande associé, et support de stockage lisible par ordinateur - Google Patents

Système à fonctionnement automatique, dispositif à déplacement automatique et procédé de commande associé, et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2021042486A1
WO2021042486A1 PCT/CN2019/115266 CN2019115266W WO2021042486A1 WO 2021042486 A1 WO2021042486 A1 WO 2021042486A1 CN 2019115266 W CN2019115266 W CN 2019115266W WO 2021042486 A1 WO2021042486 A1 WO 2021042486A1
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boundary
real
image
time
automatic
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PCT/CN2019/115266
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English (en)
Chinese (zh)
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陈泓
任雪
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 WO2021042486A1 publication Critical patent/WO2021042486A1/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

Definitions

  • the invention relates to the field of intelligent control, in particular to an automatic working system, an automatic walking device, a control method thereof, and a computer-readable storage medium.
  • 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 cumbersome.
  • the lawn mower robot can mow a complete lawn within two hours. If the above-mentioned working system is also set up for this type of lawn, the cost will be higher and also More troublesome.
  • the present invention provides a control method of an autonomous vehicle.
  • the control method includes: receiving an arrival signal when the autonomous vehicle approaches or reaches the turning boundary; Set the direction to rotate; in the process of rotating to the preset direction, obtain the real-time steering image of the front side of the autonomous vehicle; determine whether the traveling direction of the autonomous vehicle is parallel to the steering boundary according to the color layout in the real-time steering image; if it is judged to be automatic
  • the traveling direction of the traveling equipment is parallel to the steering boundary, and the automatic traveling equipment is controlled to stop steering, and travel and work along the steering boundary.
  • the step "judging whether the traveling direction of the autonomous vehicle is parallel to the steering boundary according to the color layout in the real-time steering image" includes: judging the boundary range according to the color layout in the real-time steering image; calculating the real-time steering image The ratio R1 between the area of the boundary and the total area of the real-time steering image; when R1 ⁇ V1, it is judged that the traveling direction of the autonomous vehicle is parallel to the steering boundary.
  • the step of "determining the range of the boundary based on the color layout in the real-time steering image” includes: detecting or acquiring the color of the boundary; converting the real-time steering image to HSV format or HSI format or LAB format; turning the image in real time Get the set M of all pixels that present the color of the boundary.
  • the step of "determining whether the traveling direction of the autonomous vehicle is parallel to the steering boundary according to the color layout in the real-time steering image" includes: detecting or acquiring the color of the boundary; converting the real-time steering image into HSV format or HSI format Or LAB format; Obtain the set M of all pixels that present the border colors in the real-time steering image; calculate the ratio between the number of pixels in the set M and the total number of pixels in the real-time steering image R1 ⁇ ; when R1 ⁇ When ⁇ V1, it is judged that the traveling direction of the automatic traveling equipment is parallel to the turning boundary.
  • step "receiving the arrival signal when the autonomous vehicle approaches or arrives at the turning boundary” includes: acquiring a real-time forward image of the autonomous vehicle along the direction of travel; judging the boundary according to the color layout in the real-time forward image Range: Calculate the ratio R2 between the area of the boundary in the real-time forward image and the total area of the real-time forward image; when R2 ⁇ V2, it is determined that the automatic traveling equipment is approaching or reaching the turning boundary.
  • step of "acquiring a real-time forward image of the automatic traveling equipment along the traveling direction” includes: controlling the automatic traveling equipment to travel and work along the initial boundary, which is adjacent to the turning boundary.
  • the present invention provides an autonomous walking device, including a main body, a walking module, a power supply module, and a memory and a processor arranged in the main body.
  • the memory stores a computer program that can run on the processor.
  • the processor executes the computer program, the steps of the control method of the autonomous walking device as described above can be realized.
  • the present invention provides a computer-readable storage medium storing a computer program, which is characterized in that, when the computer program is executed by a processor, it can realize the control method of autonomous walking equipment as described above Steps in.
  • the present invention provides an automatic working system, including: an automatic traveling device, which can realize the steps in the control method of the automatic traveling device as described above; and the boundary is arranged in a ring shape and formed to The working area of the autonomous vehicle is defined, and the color of the boundary is different from the color of the ground.
  • the boundary extends upward from the ground or is laid on the ground.
  • the real-time steering image is first obtained during the steering process, and the color layout in the real-time steering image is used to determine whether the autonomous vehicle is already parallel to the steering boundary, and the control is simpler and more convenient. accurate.
  • Fig. 1 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 an automatic working system, an automatic walking device and a control method thereof.
  • the automatic working system includes a boundary arranged in a ring shape and the automatic walking device that can travel and work within the boundary.
  • the boundary is usually formed by connecting several parts of the boundary. Therefore, if the autonomous device is to walk and work along the boundary, the position of the boundary must be identified.
  • the control method in the present invention includes:
  • the color layout in the real-time steering image determine whether the traveling direction of the autonomous vehicle is parallel to the steering boundary
  • the automatic traveling equipment is controlled to stop steering, and travel and work along the steering boundary.
  • the steering boundary is preset, and the steering boundary is a part of the boundary.
  • the automatic traveling device approaches or reaches the turning boundary, if it wants to continue walking along the boundary, it must first rotate in a preset direction.
  • the real-time steering image of the front side of the automatic traveling equipment is acquired.
  • the color layout of the real-time steering image can be analyzed to determine whether the automatic traveling equipment has turned to the direction of travel and steering.
  • the boundaries are parallel. After judging the parallelism, the automatic traveling equipment can move along the turning boundary and work.
  • the above-mentioned control method in the present invention is to control the automatic traveling equipment to walk and work along the boundary, that is, when the automatic traveling equipment reaches the turning boundary, the automatic traveling equipment is controlled to turn and the traveling direction is parallel to the turning boundary, so that the automatic traveling equipment can move along the boundary.
  • Parallel to the turning boundary that is, walking along the turning boundary, and if this control method is continued to be used, the automatic traveling device can always walk along the boundary until it works for a full circle along the boundary.
  • the automatic walking device can cut the grass along the border to prevent the uneven cutting of the border from occurring.
  • the real-time steering image is first acquired during the steering process, and the color layout in the real-time steering image is used to determine whether the autonomous vehicle is already parallel to the steering boundary, and the control is simpler and more accurate. Since the borders in the automatic working system of the present invention and the color distribution of the ground are obviously different, the method of analyzing the color layout can be adopted in the present invention to determine whether the traveling direction of the automatic traveling equipment is parallel to the turning border. Specifically, I will continue to explain it later.
  • the step of "determining whether the traveling direction of the autonomous vehicle is parallel to the steering boundary according to the color layout in the real-time steering image" includes:
  • the range of the boundary in the real-time steering image gradually decreases from left to right.
  • the range of the boundary is only on the right side of the real-time steering image. Or not at all; if the autonomous vehicle rotates to the right, then during its turning process, the range of the boundary in the real-time steering image gradually decreases from right to left. After the steering is completed, the range of the boundary is only that of the real-time steering image. The left side or none at all. Therefore, the value of the threshold value V1 is relatively small. Specifically, the value of the threshold value V1 is determined by factors such as the installation position of the camera on the autonomous vehicle, the position where the autonomous vehicle starts to turn, and so on.
  • the above-mentioned step of "determining the range of the boundary based on the layout of the colors in the real-time steering image” includes:
  • 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 can be calculated, and the steering position of the autonomous walking device can be calculated. Make judgments.
  • the present invention can detect the color of the boundary by performing image analysis and color extraction in the real-time steering image or other images, or directly obtain the color of the boundary in the memory.
  • the conversion of the real-time steering image into HSV format, HSI format or LAB format is to make color detection more convenient and to accurately obtain the set M.
  • the boundary range can also be obtained, and then the area ratio can be judged.
  • the calculation of the ratio R1 ⁇ between the number of pixels in the set M and the total number of pixels in the real-time steering image can also be performed directly after the set M is obtained, instead of In addition, calculate the range and area of the boundary.
  • the step of "determining whether the traveling direction of the autonomous vehicle is parallel to the steering boundary according to the color layout in the real-time steering image" includes:
  • the threshold value V1 is the same as the above-mentioned threshold value V1, and both are the proportion of the boundary range in the real-time steering image in the real-time steering image.
  • the ratio R1' is directly calculated with the total pixels in the real-time steering image.
  • there is no need to calculate the area of the range but after obtaining the set M, directly calculating the ratio R1' between the number of pixels, the same effect can be achieved as in the first embodiment.
  • the step “receives the arrival signal when the autonomous vehicle approaches or arrives at the turning boundary” includes:
  • the automatic walking equipment In the process of moving along the direction of travel, the automatic walking equipment is constantly approaching the boundary. Then, in this real-time mode, the autonomous walking device approaches the turning boundary and shoots real-time forward images during the approaching process. Therefore, in the real-time forward image, the turning boundary is distributed in the upper region; and, as the turning boundary is continuously approached, the distribution range of the turning boundary on the real-time forward image also gradually increases from top to bottom. Therefore, when the above-mentioned ratio R2 is greater than the threshold value V2, it means that the autonomous vehicle has approached or reached the turning boundary. Of course, it is obvious that the threshold value V2>the threshold value V1.
  • the boundary range can also be judged by similar methods such as the above-mentioned color detection, Hough transform straight line detection and straight line fitting, region growing algorithm based on region segmentation, k-means clustering algorithm, and the like.
  • step "acquiring a real-time forward image of the automatic traveling device along the traveling direction” includes: controlling the automatic traveling device to travel and work along the initial boundary, which is adjacent to the turning boundary. That is, before the autonomous vehicle approaches or arrives at the turning boundary, the autonomous vehicle has already traveled and worked in the direction of the initial boundary, which may be artificially placed to make the autonomous vehicle travel and work along the initial boundary, or it may be Some automatic identification methods, such as the above-mentioned color layout judgment, make the autonomous driving device move along the initial boundary. Of course, the initial boundary and the turning boundary must be adjacent to each other, so that the autonomous vehicle can continue to travel along the turning boundary after moving along the initial boundary and turning.
  • the autonomous device may not travel along the initial boundary at the beginning, but randomly move within the working area. For example, in one embodiment, if the autonomous vehicle travels randomly in the work area, after receiving the trimming instruction, the autonomous vehicle travels to the steering boundary and performs subsequent operations.
  • the present invention also provides an automatic walking device, including a main body, a walking module, a power supply module, and a memory and a processor arranged in the main body.
  • the memory stores a computer program that can run on the processor, and the processor executes The computer program can realize the steps of the control method of the autonomous walking device described above.
  • the processor is configured to, after receiving an arrival signal when the autonomous vehicle approaches or reaches the turning boundary, control the autonomous vehicle to stop forwarding and rotate in a preset direction;
  • the autonomous walking equipment also includes:
  • the camera device is used to photograph the front side of the automatic walking equipment in real time and form a real-time steering image in the process of rotating to a preset direction;
  • the processor is connected to the camera device in communication and can judge the automatic image according to the color layout in the real-time steering image. Whether the traveling direction of the traveling equipment is parallel to the steering boundary, if it is determined that the traveling direction of the automatic traveling equipment is parallel to the steering boundary, the automatic traveling equipment is controlled to travel and work along the steering boundary.
  • the automatic traveling equipment includes a camera device for shooting real-time steering images, so that it can cooperate with the processor to realize walking and working along the steering boundary after steering, which corresponds to the above-mentioned control method, and will not be repeated here.
  • the processor may also determine the range of the boundary based on the layout of the colors in the real-time steering image
  • the autonomous walking device may further include a calculation module connected to the processor, and the calculation module is used to calculate The ratio R1 between the area of the boundary in the real-time steering image and the total area of the real-time steering image; and when R1 ⁇ V1, the processor determines that the traveling direction of the autonomous vehicle is parallel to the steering boundary.
  • the processor includes a format conversion unit and a color detection unit, the format conversion unit is used to convert the real-time steering 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 the set M of all pixels presenting the color of the boundary is obtained in the real-time turning image.
  • the processor includes a format conversion unit, a color detection unit, and a calculation module, and the format conversion unit is used to convert the real-time steering 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 border, and obtain the set M of all pixels presenting the color of the border in the real-time turning image;
  • the calculation module is used to calculate the number of pixels in the set M and the real-time
  • the ratio between the total number of pixels in the steering image is R1 ⁇ ; and when R1 ⁇ V1, it is determined that the traveling direction of the autonomous vehicle is parallel to the steering boundary.
  • the autonomous vehicle before the autonomous vehicle receives the arrival signal, it also needs to determine whether the autonomous vehicle approaches or reaches the turning boundary. Then, specifically, the camera device can also be used to obtain a real-time forward image of the automatic traveling equipment along the direction of travel, the processor can also determine the range of the boundary according to the color layout in the real-time forward image, and the calculation module can also be used to Calculate the ratio R2 between the area of the boundary in the real-time advancing image and the total area of the real-time advancing image; and when R2 ⁇ V2, it is judged that the automatic traveling equipment is approaching or reaching the turning boundary. And, further, the format conversion unit and color detection unit can also be applied to real-time forward images.
  • the processor can also be used to control the autonomous vehicle to travel and work along the initial boundary before turning.
  • the present invention also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, it can realize the steps in the control method of the autonomous walking device as described above. Specifically, I won't repeat it here.
  • the present invention also provides an automatic working system of an automatic traveling device, which includes: the automatic traveling device described above and the boundary.
  • the boundary is arranged in a ring shape and formed to define the working area of the autonomous walking equipment.
  • the color of the boundary is different from that of the ground, so that the boundary and the ground can be displayed on the real-time turning image or the real-time forward image. obviously different.
  • the boundary may extend from the ground or be laid on the ground. If the boundary extends upward from the ground, the boundary can be composed of railings and fences connected between the railings, and the bottom of the railings can be inserted into the ground or placed on the ground.
  • the present invention provides an automatic working system, an automatic traveling device and a control method thereof, and a computer readable storage medium.
  • real-time steering images are obtained by taking real-time pictures of the front side of the automatic traveling device during the steering process.
  • the image color judgment method can be used to make the automatic traveling equipment walk and work along the steering boundary, making the judgment easier, and it can be applied to automatic working systems with significantly different boundaries and ground, making the functions of this automatic working system further perfect .

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

Abstract

La présente invention concerne un système à fonctionnement automatique, un dispositif à déplacement automatique et un procédé de commande associé, ainsi qu'un support de stockage lisible par ordinateur. Le procédé de commande consiste à : recevoir un signal d'arrivée indiquant qu'un dispositif à déplacement automatique s'approche d'une limite de virage ou y arrive ; commander le dispositif à déplacement automatique pour arrêter le déplacement et tourner dans une direction prédéfinie ; dans le processus de rotation dans la direction prédéfinie, obtenir une image de rotation en temps réel du côté avant du dispositif à déplacement automatique ; déterminer, en fonction de la disposition des couleurs dans l'image de rotation en temps réel, si la direction de déplacement du dispositif à déplacement automatique est parallèle à la limite de virage ; et s'il est déterminé que la direction de déplacement du dispositif à déplacement automatique est parallèle à la limite de virage, commander le dispositif à déplacement automatique pour arrêter la rotation et se déplacer et fonctionner le long de la limite de virage. Dans le procédé de commande, l'image de rotation en temps réel est tout d'abord obtenue dans le processus de rotation, puis il est déterminé si le dispositif à déplacement automatique est parallèle à la limite de virage, en fonction de la disposition des couleurs dans l'image de rotation en temps réel. La commande est plus simple et plus précise.
PCT/CN2019/115266 2019-09-06 2019-11-04 Système à fonctionnement automatique, dispositif à déplacement automatique et procédé de commande associé, et support de stockage lisible par ordinateur WO2021042486A1 (fr)

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CN201910842081.2A CN112558595A (zh) 2019-09-06 2019-09-06 自动工作系统、自动行走设备及其控制方法及计算机可读存储介质

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