CN105557175A - Intelligent lawn mower and control method thereof - Google Patents
Intelligent lawn mower and control method thereof Download PDFInfo
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- CN105557175A CN105557175A CN201410531448.6A CN201410531448A CN105557175A CN 105557175 A CN105557175 A CN 105557175A CN 201410531448 A CN201410531448 A CN 201410531448A CN 105557175 A CN105557175 A CN 105557175A
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Abstract
The invention relates to an intelligent lawn mower. The intelligent lawn mower comprises a body, an image acquisition unit arranged on the body and used for collecting image information of the external environment; a standard color part arranged in the vision field of the image acquisition unit; an image correction device used for comparing the standard color part image information acquired by the image acquisition unit with stored standard color data, acquiring a color deviation value generated in a process that the image acquisition unit acquires the external environment image information, and carrying out color correction upon the external environment image information according to the acquired color deviation value; and a control device used for controlling the working status of the intelligent lawn mower according to the external environment image information after color correction. The invention also provides a control method of the intelligent lawn mower. With the intelligent lawn mower and the method provided by the invention, vegetation misjudgment rate can be effectively reduced.
Description
Technical field
The present invention relates to automated machine field, particularly relate to a kind of intelligent grass-removing and control method thereof.
Background technology
Mower is a kind of for cutting grass quilt, vegetation etc., prunes the semi-automatic machine tool of weeds and the smooth greening lawn of process.Mower, because of simple to operate, saved manpower and time, thus is widely used.
Mower, in the process of work, can gather some image informations by installing camera, and judge according to these image informations the object whether front vegetation is cutting and prunes.But, when vegetation produces aberration because being subject to environmental influence (as illumination, reflection etc.), camera collection to image information can depart from its original real color, thus cause mower to occur the phenomenon that vegetation is judged by accident.
Summary of the invention
Based on this, be necessary to provide a kind of intelligent grass-removing and the control method thereof that effectively can reduce vegetation False Rate.
A kind of intelligent grass-removing, comprising:
Body;
Image acquisition units, is located on body, for gathering the image information of external environment condition;
Standard color part, is located in the ken of described image acquisition units;
Image correction apparatus, image information for the described standard color part described image acquisition units obtained contrasts with the standard color data stored, obtaining the color deviation value that image acquisition units produces when gathering the image information of external environment condition, according to obtained color deviation value, colour correction being carried out to the image information of described external environment condition;
Control device, for controlling the duty of described intelligent grass-removing according to the image information of the external environment condition after colour correction.
Wherein in an embodiment, described standard color part is the Standard colour board of white or RGB trisection.
Wherein in an embodiment, described control device comprises judge module and main control module;
Whether the object that described judge module is used for judging in external environment condition according to described image information is target vegetation; Described main control module is used for the duty controlling described intelligent grass-removing according to the judged result of described judge module.
Wherein in an embodiment, described judge module comprises feature extraction unit, computing unit and judging unit;
Described feature extraction unit is for extracting the characteristics of image of described image information; Described computing unit is for calculating the similarity between the characteristics of image of described image information and the characteristics of image of standard; Described judging unit is for judging whether described similarity is not less than similar threshold value, and the object if so, in described external environment condition is target vegetation; If not, the object in described external environment condition is not target vegetation.
A kind of intelligent grass-removing control method, comprising:
Gather the image information of external environment condition;
Obtain the color deviation value of intelligent grass-removing external environment condition;
According to described color deviation value, colour correction is carried out to described image information;
The duty of described intelligent grass-removing is controlled according to the image information of the external environment condition after colour correction:
When object in external environment condition is target vegetation, controls the direction that described intelligent grass-removing keeps original and work on; When object in external environment condition is not target vegetation, controls described intelligent grass-removing and to quit work or adjustment direction works on.
Wherein in an embodiment, the step obtaining the color deviation value of intelligent grass-removing external environment condition is:
The Standard colour board of white or RGB trisection is provided;
Gather the image information of the Standard colour board of described white or RGB trisection;
The image information of the Standard colour board of described white or RGB trisection and the reference colour stored are contrasted, obtains color deviation value.
Wherein in an embodiment, be specially according to the step that described color deviation value carries out colour correction:
The gain of the RGB passage of described image information is adjusted according to described color deviation value.
Wherein in an embodiment, the step controlling the duty of described intelligent grass-removing according to the image information of the external environment condition after colour correction comprises:
Extract the characteristics of image of described image information;
Calculate the similarity between the characteristics of image of described image information and the characteristics of image of standard;
Judge whether described similarity is not less than similar threshold value, the object if so, in described external environment condition is target vegetation, controls the direction that described intelligent grass-removing keeps original and works on; If not, the object in described external environment condition is not target vegetation, controls described intelligent grass-removing and to quit work or adjustment direction works on.
Above-mentioned intelligent grass-removing and control method thereof obtain the color deviation value of intelligent grass-removing external environment condition by arranging standard color part, make the image information of image acquisition units collection can carry out colour correction according to described color deviation value, its original real color would not be departed from during image information after such correction color, thus effectively reduce vegetation False Rate.
Accompanying drawing explanation
Fig. 1 is the construction module figure of intelligent grass-removing in an embodiment;
Fig. 2 is the external structure schematic diagram of intelligent grass-removing in Fig. 1;
Fig. 3 is the frame diagram of judge module in Fig. 2;
Fig. 4 is the flow chart of intelligent grass-removing control method in an embodiment.
Embodiment
Please refer to Fig. 1 and Fig. 2, be respectively construction module figure and the situ results schematic diagram of intelligent grass-removing in an embodiment.
This intelligent grass-removing comprises body 100, standard color part 200, image acquisition units 300, image correction apparatus 400 and control device 500.Wherein, standard color part 200 is positioned at the shooting ken of image acquisition units 300, and image correction apparatus 400 is connected with control device 500.
Intelligent grass-removing needs to identify the object in external environment condition, to avoid also occurring when the object in external environment condition is not target vegetation the phenomenon that mistake is cut in the process of work.In the present embodiment, standard color part 200 is located in the ken of image acquisition units 300, and image acquisition units 300 is located on body 100, for gathering the image information of external environment condition.
Object in external environment condition can be subject to the impact of the aspects such as illumination, reflection, diffusion to produce aberration, so also can depart from original color through the color of standard color part 200 imaging and produce a deviation value, and this deviation value departs from regard to embodying external environment condition color on the whole.
In the present embodiment, standard color part 200 is the Standard colour board 200 of white or RGB trisection.Standard colour board 200 is positioned at image acquisition units 300 and makes a video recording ken central authorities position on the upper side, as shown in Figure 2.Be appreciated that in other embodiments, standard color part 200 can also be positioned at image acquisition units 300 and to make a video recording the middle position of the ken.
Image correction apparatus 400 contrasts with the standard color data stored for the image information of the standard color part 200 image acquisition units 300 obtained, obtaining the color deviation value that image acquisition units 300 produces when gathering the image information of external environment condition, according to described color deviation value, colour correction being carried out to the image information of described external environment condition.Particularly, as the gain of the RGB passage of image information as described in adjusting, thus the color of image information is reduced.
Control device 500 is for controlling the duty of described intelligent grass-removing according to the image information of the external environment condition after colour correction: when the object in external environment condition is target vegetation, controls the direction that described intelligent grass-removing keeps original and works on; When object in external environment condition is not target vegetation, controls described intelligent grass-removing and to quit work or adjustment direction works on.
When object in external environment condition is not target vegetation, two kinds of possibilities may be there are: a kind of when may be intelligent grass-removing front being the barrier such as shrub or stone of lawn surrounding, but mower does not also complete the grass cutting action on whole lawn; Another kind may be the corner that intelligent grass-removing arrives lawn, has completed the grass cutting action on whole lawn.Like this, if front one possibility, just control described intelligent grass-removing adjustment direction and work on, if rear a kind of possibility, control described intelligent grass-removing with regard to control and quit work.And the judgement of these two kinds of possibilities deposits certain relation with the time of intelligent grass-removing work in the particular embodiment.
Particularly, control device 500 comprises judge module 510 and main control module 520.Judge module 510 is for judging according to described image information whether the object in described external environment condition is target vegetation.Main control module 520 is for controlling the duty of described intelligent grass-removing according to the judged result of described judge module.
The color rendition of image information is very important.Such as, the draft on lawn is target vegetation, but because of the irradiation of sunlight, the color of the grass of some position can depart from the color of its script, be easy to the judged result affecting judge module 510 like this, it is not target vegetation that the grass of these positions is probably mistaken for, thus is cut by leakage.In like manner, if there is the road arranged with stone paving in lawn, because of the reflex of its periphery vegetation, the color of stone may the color of closely grass, if do not carry out color rendition, these stones may will be judged to target vegetation by knowledge.
Please refer to Fig. 3.
In the present embodiment, judge module 510 comprises feature extraction unit 512, computing unit 514 and judging unit 516.
Feature extraction unit 512 is for extracting the characteristics of image of described image information, and characteristics of image generally comprises color characteristic and textural characteristics.Computing unit 514 is connected with feature extraction unit 512, for calculating the similarity between the characteristics of image of described image information and the characteristics of image of standard.When calculating similarity, that generally commonly uses has mahalanobis distance or Euclidean distance.Judging unit 516 is connected with computing unit 514, and for judging whether described similarity is not less than similar threshold value, the object if so, in described external environment condition is target vegetation; If not, the object in described external environment condition is not target vegetation.
In other embodiments, this intelligent grass-removing can also comprise the warning device be connected with control device 500, described warning device control device 500 control this intelligent grass-removing quit work or adjustment direction works on time, send warning message.Like this so that staff can learn in time, improve the reliability used.This warning device can be sounded warning message, light warning information or sounding and lighting alarm information, is conducive to staff and intuitively learns.
Be appreciated that, in other embodiments, when control device 500 controls after this intelligent grass-removing quits work, this intelligent grass-removing can also be controlled return charging station and charge in time, like this there to be enough power supply energies to support when needing work, improve the reliability used, and be convenient to manage intelligent grass-removing.
Please refer to Fig. 4, is the flow chart of intelligent grass-removing control method in an embodiment.
Step S110: the image information gathering external environment condition.
Step S120: the color deviation value obtaining intelligent grass-removing external environment condition.
External environment condition can be subject to illumination, reflection, diffusion etc. to affect generation aberration, and the color of so standard color part imaging also can depart from original color and produce a deviation value, and this deviation value departs from regard to embodying external environment condition color on the whole.
In the present embodiment, step S120 is specially:
The Standard colour board of white or RGB trisection is provided;
Gather the image information of the Standard colour board of described white or RGB trisection;
The image information of the Standard colour board of described white or RGB trisection and the reference colour stored are contrasted, obtains color deviation value.
Step S130: colour correction is carried out to described image information according to described color deviation value.
In the present embodiment, this step is specially the gain of the RGB passage adjusting described image information according to described color deviation value.
Step S140: the duty controlling described intelligent grass-removing according to the image information of the external environment condition after colour correction:
When object in external environment condition is target vegetation, controls the direction that described intelligent grass-removing keeps original and work on; When object in external environment condition is not target vegetation, controls described intelligent grass-removing and to quit work or adjustment direction works on.
When object in external environment condition is not target vegetation, two kinds of possibilities may be there are: during the barriers such as the stone in the middle of a kind of shrub of may to be intelligent grass-removing front be lawn surrounding or lawn, but mower does not also complete the grass cutting action on whole lawn; Another kind may be the corner that intelligent grass-removing arrives lawn, has completed the grass cutting action on whole lawn.Like this, if front one possibility, just control described intelligent grass-removing adjustment direction and work on, if rear a kind of possibility, control described intelligent grass-removing with regard to control and quit work.And the judgement of these two kinds of possibilities deposits certain relation with the time of intelligent grass-removing work in the particular embodiment.
In the present embodiment, the concrete following steps of step S140:
Extract the characteristics of image of described image information;
Calculate the similarity between the characteristics of image of described image information and the characteristics of image of standard;
Judge whether described similarity is not less than similar threshold value, the object if so, in described external environment condition is target vegetation, controls the direction that described intelligent grass-removing keeps original and works on; If not, the object in described external environment condition is not target vegetation, controls described intelligent grass-removing and to quit work or adjustment direction works on.
In other embodiments, when judging that the object in external environment condition is target vegetation, after controlling the step that described intelligent grass-removing quits work or adjustment direction works on, also comprise the step sending warning message.Like this so that staff can learn in time, improve the reliability used.This warning device can be sounded warning message, light warning information or sounding and lighting alarm information, is conducive to staff and intuitively learns.
Be appreciated that, in other embodiments, when judging that external environment condition is not target vegetation, control also to comprise after described intelligent grass-removing quits work and control this intelligent grass-removing and return the step that charging station carries out charging in time, like this there to be enough power supply energies to support when needing work, improve the reliability used, and be convenient to manage intelligent grass-removing.
Above-mentioned intelligent grass-removing and control method thereof obtain the color deviation value of intelligent grass-removing external environment condition by arranging standard color part, make the image information of image acquisition units collection can carry out colour correction according to described color deviation value, its original real color would not be departed from during image information after such correction color, thus effectively reduce vegetation False Rate.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (8)
1. an intelligent grass-removing, is characterized in that, comprising:
Body;
Image acquisition units, is located on body, for gathering the image information of external environment condition;
Standard color part, is located in the ken of described image acquisition units;
Image correction apparatus, image information for the described standard color part described image acquisition units obtained contrasts with the standard color data stored, obtaining the color deviation value that image acquisition units produces when gathering the image information of external environment condition, according to obtained color deviation value, colour correction being carried out to the image information of described external environment condition;
Control device, for controlling the duty of described intelligent grass-removing according to the image information of the external environment condition after colour correction.
2. intelligent grass-removing according to claim 1, is characterized in that, described standard color part is the Standard colour board of white or RGB trisection.
3. intelligent grass-removing according to claim 1, is characterized in that, described control device comprises judge module and main control module;
Whether the object that described judge module is used for judging in external environment condition according to described image information is target vegetation; Described main control module is used for the duty controlling described intelligent grass-removing according to the judged result of described judge module.
4. intelligent grass-removing according to claim 3, is characterized in that, described judge module comprises feature extraction unit, computing unit and judging unit;
Described feature extraction unit is for extracting the characteristics of image of described image information; Described computing unit is for calculating the similarity between the characteristics of image of described image information and the characteristics of image of standard; Described judging unit is for judging whether described similarity is not less than similar threshold value, and the object if so, in described external environment condition is target vegetation; If not, the object in described external environment condition is not target vegetation.
5. an intelligent grass-removing control method, is characterized in that, comprising:
Gather the image information of external environment condition;
Obtain the color deviation value of intelligent grass-removing external environment condition;
According to described color deviation value, colour correction is carried out to described image information;
The duty of described intelligent grass-removing is controlled according to the image information of the external environment condition after colour correction:
When object in external environment condition is target vegetation, controls the direction that described intelligent grass-removing keeps original and work on; When object in external environment condition is not target vegetation, controls described intelligent grass-removing and to quit work or adjustment direction works on.
6. intelligent grass-removing control method according to claim 5, is characterized in that, the step obtaining the color deviation value of intelligent grass-removing external environment condition is:
The Standard colour board of white or RGB trisection is provided;
Gather the image information of the Standard colour board of described white or RGB trisection;
The image information of the Standard colour board of described white or RGB trisection and the reference colour stored are contrasted, obtains color deviation value.
7. intelligent grass-removing control method according to claim 5, is characterized in that, is specially according to the step that described color deviation value carries out colour correction:
The gain of the RGB passage of described image information is adjusted according to described color deviation value.
8. intelligent grass-removing control method according to claim 5, is characterized in that, the step controlling the duty of described intelligent grass-removing according to the image information of the external environment condition after colour correction comprises:
Extract the characteristics of image of described image information;
Calculate the similarity between the characteristics of image of described image information and the characteristics of image of standard;
Judge whether described similarity is not less than similar threshold value, the object if so, in described external environment condition is target vegetation, controls the direction that described intelligent grass-removing keeps original and works on; If not, the object in described external environment condition is not target vegetation, controls described intelligent grass-removing and to quit work or adjustment direction works on.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410531448.6A CN105557175B (en) | 2014-10-10 | 2014-10-10 | Intelligent grass-removing and its control method |
| EP15845392.8A EP3199009B1 (en) | 2014-09-23 | 2015-09-23 | Self-moving robot |
| PCT/CN2015/090468 WO2016045593A1 (en) | 2014-09-23 | 2015-09-23 | Self-moving robot |
| JP2017534872A JP2017535279A (en) | 2014-09-23 | 2015-09-23 | Automatic mobile robot |
| US15/513,106 US10609862B2 (en) | 2014-09-23 | 2015-09-23 | Self-moving robot |
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| CN201410531448.6A CN105557175B (en) | 2014-10-10 | 2014-10-10 | Intelligent grass-removing and its control method |
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| CN105557175A true CN105557175A (en) | 2016-05-11 |
| CN105557175B CN105557175B (en) | 2018-09-21 |
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